136
Total objective tests
34
Objectives passed
0
Objectives failed
102
Objectives skipped
10.3s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass61 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 161 warnings · 16662 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843435 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843435 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857449 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857449 ms (missed cycles : 3).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835255 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835255 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791964251.18119407 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOobjective_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: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791964251.79654741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.52sINFOros2_control_node[2026-10-14 07:50:51.981] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-10-14 07:50:51.981] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023224 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023224 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069717 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069717 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_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 + 4.80sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.28sWARNros2_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 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070453 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070453 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694347 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694347 ms (missed cycles : 2).[0m ×2 + 7.27sINFOjoint_trajectory_controllerReceived new action goal ×2733 + 7.27sINFOjoint_trajectory_controllerAccepted new action goal ×2733 + 7.27sINFOros2_control_nodeReceived new action goal[0m ×5466 + 7.27sINFOros2_control_nodeAccepted new action goal[0m ×5466 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753990 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753990 ms (missed cycles : 2).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171746 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171746 ms (missed cycles : 3).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750407 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750407 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732697 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732697 ms (missed cycles : 2).[0m ×2 + 11.87sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.87sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.87sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.87sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780573 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780573 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650332 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650332 ms (missed cycles : 2).[0m ×2 + 13.41sWARNros2_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 ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194784 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194784 ms (missed cycles : 2).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930228 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930228 ms (missed cycles : 2).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776461 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776461 ms (missed cycles : 2).[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152320 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152320 ms (missed cycles : 2).[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877998 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877998 ms (missed cycles : 2).[0m ×2 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206336 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206336 ms (missed cycles : 2).[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085655 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085655 ms (missed cycles : 2).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216478 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216478 ms (missed cycles : 3).[0m ×2 + 22.21sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713878 ms (missed cycles : 2). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713878 ms (missed cycles : 2).[0m ×2 + 22.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952209 ms (missed cycles : 2). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952209 ms (missed cycles : 2).[0m ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825816 ms (missed cycles : 3). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825816 ms (missed cycles : 3).[0m ×2 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040900 ms (missed cycles : 2). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040900 ms (missed cycles : 2).[0m ×2 + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149415 ms (missed cycles : 2). + 26.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149415 ms (missed cycles : 2).[0m ×2 + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751267 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751267 ms (missed cycles : 2).[0m ×2 + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235708 ms (missed cycles : 2). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235708 ms (missed cycles : 2).[0m ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724855 ms (missed cycles : 2). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724855 ms (missed cycles : 2).[0m ×2 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752526 ms (missed cycles : 2). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752526 ms (missed cycles : 2).[0m ×2 + 31.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×4 + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057415 ms (missed cycles : 2). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057415 ms (missed cycles : 2).[0m ×2 + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028146 ms (missed cycles : 2). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028146 ms (missed cycles : 2).[0m ×2 + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944293 ms (missed cycles : 2). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944293 ms (missed cycles : 2).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055741 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055741 ms (missed cycles : 2).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018823 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018823 ms (missed cycles : 2).[0m ×2 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736832 ms (missed cycles : 2). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736832 ms (missed cycles : 2).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806660 ms (missed cycles : 2). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806660 ms (missed cycles : 2).[0m ×2 + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038803 ms (missed cycles : 2). + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038803 ms (missed cycles : 2).[0m ×2 + 39.43sWARNros2_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 + 39.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014977 ms (missed cycles : 2). + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014977 ms (missed cycles : 2).[0m ×2 + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702248 ms (missed cycles : 2). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702248 ms (missed cycles : 2).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740288 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740288 ms (missed cycles : 2).[0m ×2 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117220 ms (missed cycles : 2). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117220 ms (missed cycles : 2).[0m ×2 + 43.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 43.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 44.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.470315 ms (missed cycles : 6). + 44.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.470315 ms (missed cycles : 6).[0m ×2 + 45.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792535 ms (missed cycles : 2). + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792535 ms (missed cycles : 2).[0m ×2 + 47.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670870 ms (missed cycles : 2). + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670870 ms (missed cycles : 2).[0m ×2 + 47.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791964295.69463015 seconds ×3 + 47.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.79sINFOobjective_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: ""
+ 47.79sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791964296.34715557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.94sINFOobjective_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 + 47.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.04sINFOobjective_server_nodeFound path in 0 iterations (8.91e-07 s). ×2 + 48.05sINFOros2_control_node[2026-10-14 07:51:36.511] [info] Received new action goal ×2 + 48.05sINFOros2_control_node[2026-10-14 07:51:36.511] [info] Accepted new action goal ×2 + 48.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348044 ms (missed cycles : 2). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348044 ms (missed cycles : 2).[0m ×2 + 49.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458992 ms (missed cycles : 3). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458992 ms (missed cycles : 3).[0m ×2 + 50.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674507 ms (missed cycles : 2). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674507 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.0s | 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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791964197.16824937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7).[0m ×2 + 5.26sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5).[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 7.15sINFOros2_control_node[2026-10-14 07:50:00.453] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-10-14 07:50:00.453] [info] Accepted new action goal ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338425 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338425 ms (missed cycles : 2).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562976 ms (missed cycles : 3). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562976 ms (missed cycles : 3).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680823 ms (missed cycles : 5). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680823 ms (missed cycles : 5).[0m ×2 + 10.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.30sINFOros2_control_node[2026-10-14 07:50:03.604] [info] Received new action goal ×2 + 10.30sINFOros2_control_node[2026-10-14 07:50:03.604] [info] Accepted new action goal ×2 + 10.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656486 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656486 ms (missed cycles : 3).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217445 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217445 ms (missed cycles : 2).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818159 ms (missed cycles : 3). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818159 ms (missed cycles : 3).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 13.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.34sINFOros2_control_node[2026-10-14 07:50:06.646] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-10-14 07:50:06.646] [info] Accepted new action goal ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312128 ms (missed cycles : 5). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312128 ms (missed cycles : 5).[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632785 ms (missed cycles : 6). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632785 ms (missed cycles : 6).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495212 ms (missed cycles : 4). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495212 ms (missed cycles : 4).[0m ×2 + 16.31sINFOobjective_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 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639756 ms (missed cycles : 4). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639756 ms (missed cycles : 4).[0m ×2 + 17.26sWARNros2_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 ×6 + 17.37sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780133 ms (missed cycles : 2). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780133 ms (missed cycles : 2).[0m ×2 + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267670 ms (missed cycles : 5). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267670 ms (missed cycles : 5).[0m ×2 + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694758 ms (missed cycles : 5). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694758 ms (missed cycles : 5).[0m ×2 + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690725 ms (missed cycles : 5). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690725 ms (missed cycles : 5).[0m ×2 + 22.43sWARNros2_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 + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878463 ms (missed cycles : 2). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878463 ms (missed cycles : 2).[0m ×2 + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589954 ms (missed cycles : 4). + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589954 ms (missed cycles : 4).[0m ×2 + 23.91sINFOobjective_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 + 23.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.91sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.92sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.92sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.92sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.81sINFOros2_control_node[2026-10-14 07:50:18.107] [info] Received new action goal ×2 + 24.81sINFOros2_control_node[2026-10-14 07:50:18.107] [info] Accepted new action goal ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801105 ms (missed cycles : 3). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801105 ms (missed cycles : 3).[0m ×2 + 26.00sINFOobjective_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 + 26.01sINFOobjective_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 + 26.29sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686853 ms (missed cycles : 2). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686853 ms (missed cycles : 2).[0m ×2 + 26.34sINFOros2_control_node[2026-10-14 07:50:19.642] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-10-14 07:50:19.642] [info] Accepted new action goal ×2 + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956143 ms (missed cycles : 2). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956143 ms (missed cycles : 2).[0m ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879725 ms (missed cycles : 2). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879725 ms (missed cycles : 2).[0m ×2 + 28.65sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 28.65sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.67sINFOros2_control_node[2026-10-14 07:50:21.969] [info] Received new action goal ×2 + 28.67sINFOros2_control_node[2026-10-14 07:50:21.969] [info] Accepted new action goal ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622245 ms (missed cycles : 3). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622245 ms (missed cycles : 3).[0m ×2 + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540988 ms (missed cycles : 2). + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540988 ms (missed cycles : 2).[0m ×2 + 31.69sINFOros2_control_node[2026-10-14 07:50:24.988] [info] Received new action goal ×2 + 31.69sINFOros2_control_node[2026-10-14 07:50:24.988] [info] Accepted new action goal ×2 + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838691 ms (missed cycles : 2). + 31.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838691 ms (missed cycles : 2).[0m ×2 + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686650 ms (missed cycles : 4). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686650 ms (missed cycles : 4).[0m ×2 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699781 ms (missed cycles : 2). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699781 ms (missed cycles : 2).[0m ×2 + 34.28sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 34.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.35sINFOros2_control_node[2026-10-14 07:50:27.649] [info] Received new action goal ×2 + 34.35sINFOros2_control_node[2026-10-14 07:50:27.649] [info] Accepted new action goal ×2 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467478 ms (missed cycles : 2). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467478 ms (missed cycles : 2).[0m ×2 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576932 ms (missed cycles : 2). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576932 ms (missed cycles : 2).[0m ×2 + 37.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399210 ms (missed cycles : 4). + 37.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399210 ms (missed cycles : 4).[0m ×2 + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888977 ms (missed cycles : 4). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888977 ms (missed cycles : 4).[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919267 ms (missed cycles : 2). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919267 ms (missed cycles : 2).[0m ×2 + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020429 ms (missed cycles : 2). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020429 ms (missed cycles : 2).[0m ×2 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235327 ms (missed cycles : 2). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235327 ms (missed cycles : 2).[0m ×2 + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135504 ms (missed cycles : 3). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135504 ms (missed cycles : 3).[0m ×2 + 43.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013619 ms (missed cycles : 4). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013619 ms (missed cycles : 4).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696431 ms (missed cycles : 2). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696431 ms (missed cycles : 2).[0m ×2 + 45.07sINFOros2_control_node[2026-10-14 07:50:38.373] [info] Received new action goal ×2 + 45.07sINFOros2_control_node[2026-10-14 07:50:38.373] [info] Accepted new action goal ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427441 ms (missed cycles : 5). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427441 ms (missed cycles : 5).[0m ×2 + 46.23sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791964239.52928114 seconds ×3 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038724 ms (missed cycles : 2). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038724 ms (missed cycles : 2).[0m ×2 + 46.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.82sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.03sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791964240.32873130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134419 ms (missed cycles : 2). + 47.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134419 ms (missed cycles : 2).[0m ×2 + 48.07sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 48.09sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.10sINFOros2_control_node[2026-10-14 07:50:41.404] [info] Received new action goal ×2 + 48.10sINFOros2_control_node[2026-10-14 07:50:41.404] [info] Accepted new action goal ×2 + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030749 ms (missed cycles : 3). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030749 ms (missed cycles : 3).[0m ×2 + 49.47sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 37.4s | 3 errors · 139 warnings · 296 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124231 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124231 ms (missed cycles : 3).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814766 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814766 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734504 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734504 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sERRORobjective_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: 1791964361.50347733 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.29sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.29sINFOobjective_server_nodecaller: ×8 + 3.29sINFOobjective_server_nodetype: 0 ×8 + 3.29sINFOobjective_server_nodename: "" ×8 + 3.30sINFOobjective_server_nodeinstance_id: "" ×8 + 3.30sINFOobjective_server_node ×8 + 3.41sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791964362.16237092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191632 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191632 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.46sINFOros2_control_node[2026-10-14 07:52:43.217] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-10-14 07:52:43.217] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.652451 ms (missed cycles : 8). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.652451 ms (missed cycles : 8).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809552 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809552 ms (missed cycles : 2).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680751 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680751 ms (missed cycles : 4).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695996 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695996 ms (missed cycles : 2).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193823 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193823 ms (missed cycles : 3).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376053 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376053 ms (missed cycles : 2).[0m ×2 + 11.01sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 11.03sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 11.08sINFOros2_control_node[2026-10-14 07:52:49.836] [info] Received new action goal ×2 + 11.08sINFOros2_control_node[2026-10-14 07:52:49.836] [info] Accepted new action goal ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510918 ms (missed cycles : 4). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510918 ms (missed cycles : 4).[0m ×2 + 11.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769549 ms (missed cycles : 2). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769549 ms (missed cycles : 2).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860998 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860998 ms (missed cycles : 2).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375378 ms (missed cycles : 4). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375378 ms (missed cycles : 4).[0m ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.190099 ms (missed cycles : 7). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.190099 ms (missed cycles : 7).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399245 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399245 ms (missed cycles : 2).[0m ×2 + 16.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779911 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779911 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620389 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620389 ms (missed cycles : 2).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753632 ms (missed cycles : 4). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753632 ms (missed cycles : 4).[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827001 ms (missed cycles : 5). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827001 ms (missed cycles : 5).[0m ×2 + 21.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 21.00sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 21.01sINFOros2_control_node[2026-10-14 07:52:59.766] [info] Received new action goal ×2 + 21.01sINFOros2_control_node[2026-10-14 07:52:59.766] [info] Accepted new action goal ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991924 ms (missed cycles : 2). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991924 ms (missed cycles : 2).[0m ×2 + 22.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130204 ms (missed cycles : 5). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130204 ms (missed cycles : 5).[0m ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028735 ms (missed cycles : 3). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028735 ms (missed cycles : 3).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523318 ms (missed cycles : 2). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523318 ms (missed cycles : 2).[0m ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097168 ms (missed cycles : 3). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097168 ms (missed cycles : 3).[0m ×2 + 26.80sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 26.81sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 26.86sINFOros2_control_node[2026-10-14 07:53:05.616] [info] Received new action goal ×2 + 26.86sINFOros2_control_node[2026-10-14 07:53:05.616] [info] Accepted new action goal ×2 + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551668 ms (missed cycles : 5). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551668 ms (missed cycles : 5).[0m ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121361 ms (missed cycles : 3). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121361 ms (missed cycles : 3).[0m ×2 + 28.71sWARNros2_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 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208775 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208775 ms (missed cycles : 2).[0m ×2 + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.827214 ms (missed cycles : 5). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.827214 ms (missed cycles : 5).[0m ×2 + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376370 ms (missed cycles : 3). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376370 ms (missed cycles : 3).[0m ×2 + 31.92sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133891 ms (missed cycles : 4). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133891 ms (missed cycles : 4).[0m ×2 + 33.90sWARNros2_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 + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788834 ms (missed cycles : 5). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788834 ms (missed cycles : 5).[0m ×2 + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195191 ms (missed cycles : 4). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195191 ms (missed cycles : 4).[0m ×2 + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850140 ms (missed cycles : 2). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850140 ms (missed cycles : 2).[0m ×2 + 36.33sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 36.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 36.36sINFOros2_control_node[2026-10-14 07:53:15.114] [info] Received new action goal ×2 + 36.36sINFOros2_control_node[2026-10-14 07:53:15.114] [info] Accepted new action goal ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5).[0m ×2 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 39.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 40.01sWARNros2_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 + 40.14sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 40.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 40.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 41.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 41.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 41.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 41.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 41.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 41.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 41.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 41.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 41.72sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 41.76sINFOobjective_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 + 41.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791964400.51301789 seconds ×3 + 42.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 42.37sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 42.44sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 42.55sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 42.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 42.56sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 42.56sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 43.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[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 · 12094 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1983 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1983 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3966 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×3966 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.470315 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.470315 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792535 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792535 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670870 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670870 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791964295.69463015 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_nodecaller: ×4 + 3.88sINFOobjective_server_nodetype: 0 ×4 + 3.88sINFOobjective_server_nodename: "" ×4 + 3.88sINFOobjective_server_nodeinstance_id: "" ×4 + 3.88sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791964296.34715557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (8.91e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.14sINFOros2_control_node[2026-10-14 07:51:36.511] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-10-14 07:51:36.511] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348044 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348044 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458992 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458992 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.45sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674507 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674507 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126134 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126134 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843763 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843763 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272274 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272274 ms (missed cycles : 2).[0m ×2 + 9.55sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.63 s); wrist_camera (1.63 s). The render path has stopped producing new frames for them.[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722369 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722369 ms (missed cycles : 2).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658236 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658236 ms (missed cycles : 3).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943884 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943884 ms (missed cycles : 2).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147105 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147105 ms (missed cycles : 2).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353632 ms (missed cycles : 3). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353632 ms (missed cycles : 3).[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814087 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814087 ms (missed cycles : 2).[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745229 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745229 ms (missed cycles : 2).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763282 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763282 ms (missed cycles : 2).[0m ×2 + 18.45sWARNros2_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 ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117577 ms (missed cycles : 2). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117577 ms (missed cycles : 2).[0m ×2 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044195 ms (missed cycles : 3). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044195 ms (missed cycles : 3).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837608 ms (missed cycles : 2). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837608 ms (missed cycles : 2).[0m ×2 + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710004 ms (missed cycles : 2). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710004 ms (missed cycles : 2).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2).[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2).[0m ×2 + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2).[0m ×2 + 25.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791964317.86297154 seconds ×3 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2).[0m ×2 + 26.14sINFOobjective_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: ""
+ 26.14sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791964318.61329055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 26.43sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 26.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.45sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Received new action goal ×2 + 26.45sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Accepted new action goal ×2 + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2).[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 21.4s | 3 errors · 90 warnings · 189 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202896 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202896 ms (missed cycles : 2).[0m ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 0.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 1 iterations (0.00412832 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.59sINFOros2_control_node[2026-10-14 07:49:15.910] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-14 07:49:15.910] [info] Accepted new action goal ×2 + 1.02sINFOros2_control_node[2026-10-14 07:49:16.342] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-14 07:49:16.342] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644564 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644564 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847512 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847512 ms (missed cycles : 2).[0m ×2 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sERRORobjective_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: 1791964158.51179457 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946401 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946401 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_nodecaller: ×4 + 3.88sINFOobjective_server_nodetype: 0 ×4 + 3.88sINFOobjective_server_nodename: "" ×4 + 3.88sINFOobjective_server_nodeinstance_id: "" ×4 + 3.88sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791964159.34923410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859109 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859109 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-10-14 07:49:20.383] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-10-14 07:49:20.383] [info] Accepted new action goal ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694695 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694695 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577058 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577058 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510287 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510287 ms (missed cycles : 5).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566788 ms (missed cycles : 5). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566788 ms (missed cycles : 5).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736498 ms (missed cycles : 4). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736498 ms (missed cycles : 4).[0m ×2 + 10.45sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144786 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144786 ms (missed cycles : 3).[0m ×2 + 11.06sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 11.07sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 11.12sINFOros2_control_node[2026-10-14 07:49:26.446] [info] Received new action goal ×2 + 11.12sINFOros2_control_node[2026-10-14 07:49:26.446] [info] Accepted new action goal ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023156 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023156 ms (missed cycles : 3).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595769 ms (missed cycles : 5). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595769 ms (missed cycles : 5).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889069 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889069 ms (missed cycles : 2).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118404 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118404 ms (missed cycles : 2).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.006411 ms (missed cycles : 6). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.006411 ms (missed cycles : 6).[0m ×2 + 17.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041804 ms (missed cycles : 3). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041804 ms (missed cycles : 3).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995638 ms (missed cycles : 3). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995638 ms (missed cycles : 3).[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992692 ms (missed cycles : 3). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992692 ms (missed cycles : 3).[0m ×2 + 20.55sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 20.67sINFOobjective_server_nodeFound path in 0 iterations (5.94e-07 s). ×2 + 20.68sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 20.69sINFOros2_control_node[2026-10-14 07:49:36.016] [info] Received new action goal ×2 + 20.69sINFOros2_control_node[2026-10-14 07:49:36.016] [info] Accepted new action goal ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849857 ms (missed cycles : 6). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849857 ms (missed cycles : 6).[0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671554 ms (missed cycles : 4). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671554 ms (missed cycles : 4).[0m ×2 + 22.18sWARNros2_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 + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830835 ms (missed cycles : 4). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830835 ms (missed cycles : 4).[0m ×2 + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748291 ms (missed cycles : 2). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748291 ms (missed cycles : 2).[0m ×2 + 24.60sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791964179.93039083 seconds ×3 + 25.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.14sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 25.28sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791964180.60769749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585389 ms (missed cycles : 3). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585389 ms (missed cycles : 3).[0m ×2 + 25.45sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 25.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 25.47sINFOros2_control_node[2026-10-14 07:49:40.792] [info] Received new action goal ×2 + 25.47sINFOros2_control_node[2026-10-14 07:49:40.792] [info] Accepted new action goal ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206210 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206210 ms (missed cycles : 2).[0m ×2 + 27.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619300 ms (missed cycles : 2). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619300 ms (missed cycles : 2).[0m ×2 + 27.99sINFOros2_control_node[2026-10-14 07:49:43.314] [info] Received new action goal ×2 + 27.99sINFOros2_control_node[2026-10-14 07:49:43.314] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.0s | 73 errors · 42 warnings · 439 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8).[0m ×2 + 0.42sINFOobjective_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 + 0.42sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Got request to cancel active goal. ×2 + 0.42sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Canceling active goal... ×2 + 0.43sERRORobjective_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: 1791964411.49943018 seconds ×3 + 0.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.69sWARNros2_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 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.97sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.97sINFOobjective_server_nodecaller: ×8 + 0.97sINFOobjective_server_nodetype: 0 ×8 + 0.97sINFOobjective_server_nodename: "" ×8 + 0.97sINFOobjective_server_nodeinstance_id: "" ×8 + 0.97sINFOobjective_server_node ×8 + 1.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791964412.10175633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791964412.75184321 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791964413.35377479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.28sINFOobjective_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 + 2.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791964413.35567236 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791964413.97069049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791964413.99184251 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791964414.68998528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492864 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492864 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791964416.19012952 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890280 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890280 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158997 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158997 ms (missed cycles : 2).[0m ×2 + 6.70sWARNros2_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 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166907 ms (missed cycles : 5). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166907 ms (missed cycles : 5).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106282 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106282 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161434 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161434 ms (missed cycles : 2).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363664 ms (missed cycles : 5). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363664 ms (missed cycles : 5).[0m ×2 + 11.07sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 11.09sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORweb_video_auth_proxy-25process has died [pid 8309, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.09sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 11.10sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORweb_bridge_auth_proxy-24process has died [pid 8308, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.10sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 11.10sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 11.11sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 11.11sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 11.12sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.12sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.13sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.13sINFOvideo_server-23process has finished cleanly [pid 8305] ×2 + 11.13sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.14sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.15sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.15sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.16sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.17sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.17sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.18sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.19sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.19sINFOcontroller_managerShutdown request received.... + 11.19sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 11.19sINFOvideo_server2026/10/14 07:53:42 INF shutting down gracefully ×2 + 11.19sINFOvideo_server2026/10/14 07:53:42 INF [WebRTC] closing ×2 + 11.19sINFOvideo_server2026/10/14 07:53:42 INF [RTSP] closing ×2 + 11.19sINFOvideo_server2026/10/14 07:53:42 INF waiting for running hooks ×2 + 11.19sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.19sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.19sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.19sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.19sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.19sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.19sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.19sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.19sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.19sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.19sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.19sERRORmove_groupStack trace (most recent call last) in thread 8702: ×2 + 11.19sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.19sINFOcontroller_managerShutting down the controller manager. + 11.19sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.19sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.19sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.20sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.20sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.20sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.20sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.20sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.20sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.20sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.20sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0020d99cc3, in __clone ×2 + 11.20sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0020d0cb83, in ×2 + 11.20sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.20sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0020f9ddb3, in ×2 + 11.20sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f00217075e4, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.20sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0021331620, in rclcpp::Rate::sleep() ×2 + 11.20sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0021273d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.20sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0021235087, in ×2 + 11.20sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0020f6c390, in __cxa_throw ×2 + 11.20sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0020f56a54, in std::terminate() ×2 + 11.20sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0020f6c0d9, in ×2 + 11.20sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0020f56ff4, in ×2 + 11.20sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0020c988fe, in abort ×2 + 11.20sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0020cb527d, in raise ×2 + 11.20sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0020d0ec0c, in pthread_kill ×2 + 11.20sERRORmove_groupAborted (Signal sent by tkill() 8223 0) ×2 + 11.21sERRORmove_group-9process has died [pid 8223, 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_y49ib_yn --params-file /tmp/launch_params_xxgdv6vg --params-file /tmp/launch_params_bed8toar --params-file /tmp/launch_params_4h_m1kur --params-file /tmp/launch_params_zdy1wq_y --params-file /tmp/launch_params_em67zu8u']. ×2 + 11.40sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.40sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.40sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.14sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.14sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.14sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 12.14sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.14sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.14sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.14sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.14sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.14sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.14sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 12.14sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 12.14sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 12.14sINFOjoint_state_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 12.16sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8303] ×2 + 12.16sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 12.20sERRORjoint_state_visualization_relay-21process has died [pid 8300, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay --ros-args --params-file /tmp/launch_params_cdbg9zjx']. ×2 + 12.20sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 12.20sINFOtf_visualization_relay-20process has finished cleanly [pid 8299] ×2 + 12.20sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 12.21sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8226] ×2 + 12.21sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8227] ×2 + 12.24sINFOexecute_objective_bridge-17process has finished cleanly [pid 8231] ×2 + 12.25sINFOui_teleop_bridge-18process has finished cleanly [pid 8232] ×2 + 12.25sINFOwaypoint_manager_node-11process has finished cleanly [pid 8225] ×2 + 12.26sINFOparameter_manager_node-10process has finished cleanly [pid 8224] ×2 + 12.31sINFOcomponent_container_mt-16process has finished cleanly [pid 8230] ×2 + 12.32sINFOobjective_server_node[0;m[2026-10-14 07:53:43.385] [moveit_pro_license] [critical] ×2 + 12.32sINFOobjective_server_node************************************************* ×4 + 12.32sINFOobjective_server_node* MoveIt Pro License ×2 + 12.32sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.46sINFOobjective_server_node_main-14process has finished cleanly [pid 8228] ×2 + 12.46sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.34sINFOcomponent_container_mt-15process has finished cleanly [pid 8229] ×2 + 13.70sINFOweb_bridge-19process has finished cleanly [pid 8233] ×2 + 13.70sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.84sINFOros2_control_node-1process has finished cleanly [pid 8172] ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 62 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671554 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671554 ms (missed cycles : 4).[0m ×2 + 0.05sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830835 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830835 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748291 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748291 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791964179.93039083 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791964180.60769749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585389 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585389 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-14 07:49:40.792] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-14 07:49:40.792] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206210 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206210 ms (missed cycles : 2).[0m ×2 + 5.18sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619300 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619300 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_node[2026-10-14 07:49:43.314] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-10-14 07:49:43.314] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395109 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395109 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998188 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998188 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253436 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253436 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022107 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022107 ms (missed cycles : 3).[0m ×2 + 10.19sWARNros2_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 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651750 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651750 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238206 ms (missed cycles : 5). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238206 ms (missed cycles : 5).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555263 ms (missed cycles : 4). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555263 ms (missed cycles : 4).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812343 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812343 ms (missed cycles : 2).[0m ×2 + 14.43sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791964191.88412714 seconds ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175654 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175654 ms (missed cycles : 2).[0m ×2 + 14.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.97sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791964192.48866296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791964192.56879544 seconds ×3 + 15.30sWARNros2_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 + 15.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.85sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.92sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 16.06sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 16.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.07sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 16.07sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 18.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 59 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013619 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013619 ms (missed cycles : 4).[0m ×2 + 0.58sWARNros2_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 + 0.60sINFOobjective_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 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.60sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696431 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696431 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.49sINFOros2_control_node[2026-10-14 07:50:38.373] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-10-14 07:50:38.373] [info] Accepted new action goal ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427441 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427441 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791964239.52928114 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038724 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038724 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791964240.32873130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134419 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134419 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.52sINFOros2_control_node[2026-10-14 07:50:41.404] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-10-14 07:50:41.404] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030749 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030749 ms (missed cycles : 3).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185037 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185037 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584538 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584538 ms (missed cycles : 5).[0m ×2 + 8.23sINFOobjective_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 + 8.23sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.23sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.23sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.23sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351018 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351018 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721538 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721538 ms (missed cycles : 2).[0m ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×4 + 10.68sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.70sINFOros2_control_node[2026-10-14 07:50:47.576] [info] Received new action goal ×2 + 10.70sINFOros2_control_node[2026-10-14 07:50:47.576] [info] Accepted new action goal ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498617 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498617 ms (missed cycles : 2).[0m ×2 + 11.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843435 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843435 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857449 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857449 ms (missed cycles : 3).[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835255 ms (missed cycles : 4). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835255 ms (missed cycles : 4).[0m ×2 + 14.30sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791964251.18119407 seconds ×3 + 14.84sINFOobjective_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: ""
+ 14.85sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791964251.79654741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.10sINFOros2_control_node[2026-10-14 07:50:51.981] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-10-14 07:50:51.981] [info] Accepted new action goal ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023224 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023224 ms (missed cycles : 2).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069717 ms (missed cycles : 5). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069717 ms (missed cycles : 5).[0m ×2 + 16.36sINFOobjective_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 + 16.37sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.86sWARNros2_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 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070453 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070453 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.70sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.70sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.70sINFOobjective_server_nodecaller: ×12 + 0.70sINFOobjective_server_nodetype: 0 ×12 + 0.70sINFOobjective_server_nodename: "" ×12 + 0.70sINFOobjective_server_nodeinstance_id: "" ×12 + 0.70sINFOobjective_server_node ×12 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.87sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.19sWARNros2_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 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.39sINFOros2_control_node[2026-10-14 07:48:14.726] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-10-14 07:48:14.726] [info] Accepted new action goal ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933234 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933234 ms (missed cycles : 3).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149364 ms (missed cycles : 6). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149364 ms (missed cycles : 6).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733460 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733460 ms (missed cycles : 3).[0m ×2 + 9.30sWARNros2_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 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404622 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404622 ms (missed cycles : 2).[0m ×2 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 10.04sINFOros2_control_node[2026-10-14 07:48:18.376] [info] Received new action goal ×2 + 10.04sINFOros2_control_node[2026-10-14 07:48:18.376] [info] Accepted new action goal ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692414 ms (missed cycles : 4). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692414 ms (missed cycles : 4).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.359789 ms (missed cycles : 5). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.359789 ms (missed cycles : 5).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294966 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294966 ms (missed cycles : 2).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.38sINFOros2_control_node[2026-10-14 07:48:21.716] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-10-14 07:48:21.716] [info] Accepted new action goal ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367186 ms (missed cycles : 4). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367186 ms (missed cycles : 4).[0m ×2 + 14.15sINFOobjective_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 + 14.16sINFOros2_control_node[2026-10-14 07:48:22.491] [info] Got request to cancel active goal. ×2 + 14.16sINFOros2_control_node[2026-10-14 07:48:22.491] [info] Canceling active goal... ×2 + 14.17sERRORobjective_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: 1791964102.50799036 seconds ×3 + 14.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.35sWARNros2_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 + 14.72sINFOobjective_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: ""
+ 14.72sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791964103.16186190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 15.08sINFOros2_control_node[2026-10-14 07:48:23.416] [info] Received new action goal ×2 + 15.08sINFOros2_control_node[2026-10-14 07:48:23.416] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628479 ms (missed cycles : 5). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628479 ms (missed cycles : 5).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970677 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970677 ms (missed cycles : 2).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346647 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346647 ms (missed cycles : 2).[0m ×2 + 17.36sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 17.37sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.38sINFOros2_control_node[2026-10-14 07:48:25.716] [info] Received new action goal ×2 + 17.38sINFOros2_control_node[2026-10-14 07:48:25.716] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.359789 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.359789 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294966 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294966 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.46sINFOros2_control_node[2026-10-14 07:48:21.716] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-10-14 07:48:21.716] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367186 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367186 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.23sINFOros2_control_node[2026-10-14 07:48:22.491] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-10-14 07:48:22.491] [info] Canceling active goal... ×2 + 2.25sERRORobjective_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: 1791964102.50799036 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.43sWARNros2_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 ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.80sINFOobjective_server_nodecaller: ×6 + 2.80sINFOobjective_server_nodetype: 0 ×6 + 2.80sINFOobjective_server_nodename: "" ×6 + 2.80sINFOobjective_server_nodeinstance_id: "" ×6 + 2.80sINFOobjective_server_node ×6 + 2.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791964103.16186190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.16sINFOros2_control_node[2026-10-14 07:48:23.416] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-10-14 07:48:23.416] [info] Accepted new action goal ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628479 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628479 ms (missed cycles : 5).[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970677 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970677 ms (missed cycles : 2).[0m ×2 + 5.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346647 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346647 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.46sINFOros2_control_node[2026-10-14 07:48:25.716] [info] Received new action goal ×2 + 5.46sINFOros2_control_node[2026-10-14 07:48:25.716] [info] Accepted new action goal ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130832 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130832 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538004 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538004 ms (missed cycles : 4).[0m ×2 + 8.19sWARNros2_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 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931773 ms (missed cycles : 4). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931773 ms (missed cycles : 4).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194476 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194476 ms (missed cycles : 2).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340456 ms (missed cycles : 5). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340456 ms (missed cycles : 5).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2).[0m ×2 + 13.34sERRORobjective_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: 1791964113.60270000 seconds ×3 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791964114.20531297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4).[0m ×2 + 14.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791964114.32543778 seconds ×3 + 14.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.69sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791964115.01502013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 14.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.96sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Accepted new action goal ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 56 warnings · 221 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7).[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791964124.73116946 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.19sINFOobjective_server_nodecaller: ×6 + 2.19sINFOobjective_server_nodetype: 0 ×6 + 2.19sINFOobjective_server_nodename: "" ×6 + 2.19sINFOobjective_server_nodeinstance_id: "" ×6 + 2.19sINFOobjective_server_node ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791964125.36172032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791964125.45187140 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791964126.13372755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4).[0m ×2 + 6.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.53sINFOros2_control_node[2026-10-14 07:48:49.618] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-10-14 07:48:49.618] [info] Accepted new action goal ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258155 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258155 ms (missed cycles : 3).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553511 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553511 ms (missed cycles : 2).[0m ×2 + 8.86sINFOobjective_server_nodeFound path in 0 iterations (2.15e-07 s). ×2 + 8.87sINFOros2_control_node[2026-10-14 07:48:51.955] [info] Received new action goal ×2 + 8.87sINFOros2_control_node[2026-10-14 07:48:51.955] [info] Accepted new action goal ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786968 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786968 ms (missed cycles : 3).[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650063 ms (missed cycles : 4). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650063 ms (missed cycles : 4).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 11.23sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 11.23sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 11.46sWARNros2_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 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 13.47sINFOobjective_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 + 13.48sERRORobjective_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: 1791964136.56391501 seconds ×3 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 14.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.05sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.36sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 14.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.38sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 14.38sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 16.58sWARNros2_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 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 57 warnings · 2084 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×314 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×314 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×628 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×628 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791964317.86297154 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.97sINFOobjective_server_nodecaller: ×4 + 3.97sINFOobjective_server_nodetype: 0 ×4 + 3.97sINFOobjective_server_nodename: "" ×4 + 3.97sINFOobjective_server_nodeinstance_id: "" ×4 + 3.97sINFOobjective_server_node ×4 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791964318.61329055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.658075 ms (missed cycles : 6). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.658075 ms (missed cycles : 6).[0m ×2 + 8.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.19sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.51sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.62sINFOobjective_server_nodeFound path in 1 iterations (0.00436264 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.83sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.85sINFOros2_control_node[2026-10-14 07:52:03.383] [info] Received new action goal ×2 + 8.85sINFOros2_control_node[2026-10-14 07:52:03.383] [info] Accepted new action goal ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235450 ms (missed cycles : 3). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235450 ms (missed cycles : 3).[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245193 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245193 ms (missed cycles : 2).[0m ×2 + 10.09sWARNros2_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 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 11.16sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 11.16sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 12.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.82sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 12.82sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 14.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 14.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.22sWARNros2_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 + 15.32sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 15.34sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 15.34sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 16.14sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 17.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 59 warnings · 192 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.80sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858731 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858731 ms (missed cycles : 2).[0m ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 7.23sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.25sINFOobjective_server_nodeFound path in 5 iterations (0.00584251 s). ×2 + 7.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.96sINFOros2_control_node[2026-10-14 07:49:02.165] [info] Received new action goal ×2 + 7.96sINFOros2_control_node[2026-10-14 07:49:02.165] [info] Accepted new action goal ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218159 ms (missed cycles : 5). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218159 ms (missed cycles : 5).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902191 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902191 ms (missed cycles : 2).[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603725 ms (missed cycles : 5). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603725 ms (missed cycles : 5).[0m ×2 + 10.22sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.49sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.49sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.50sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791964144.72942996 seconds ×3 + 10.52sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 10.55sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357793 ms (missed cycles : 3). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357793 ms (missed cycles : 3).[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659337 ms (missed cycles : 6). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659337 ms (missed cycles : 6).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324255 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324255 ms (missed cycles : 2).[0m ×2 + 13.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.05sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791964148.25277901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 14.26sINFOros2_control_node[2026-10-14 07:49:08.467] [info] Received new action goal ×2 + 14.26sINFOros2_control_node[2026-10-14 07:49:08.467] [info] Accepted new action goal ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716468 ms (missed cycles : 3). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716468 ms (missed cycles : 3).[0m ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442168 ms (missed cycles : 4). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442168 ms (missed cycles : 4).[0m ×2 + 16.30sWARNros2_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 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429999 ms (missed cycles : 5). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429999 ms (missed cycles : 5).[0m ×2 + 16.47sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 3 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 1.78sWARNros2_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 + 1.91sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.53sINFOobjective_server_nodecaller: ×14 + 2.53sINFOobjective_server_nodetype: 0 ×14 + 2.53sINFOobjective_server_nodename: "" ×14 + 2.53sINFOobjective_server_nodeinstance_id: "" ×14 + 2.53sINFOobjective_server_node ×14 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 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: 1791964400.51301789 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224614 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224614 ms (missed cycles : 2).[0m ×2 + 7.64sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.65sINFOros2_control_node[2026-10-14 07:53:24.628] [info] Received new action goal ×2 + 7.65sINFOros2_control_node[2026-10-14 07:53:24.628] [info] Accepted new action goal ×2 + 7.65sINFOros2_control_node[2026-10-14 07:53:24.628] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.55sWARNros2_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 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804567 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804567 ms (missed cycles : 3).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057250 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057250 ms (missed cycles : 2).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096531 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096531 ms (missed cycles : 3).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079366 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079366 ms (missed cycles : 3).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3).[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8).[0m ×2 + 14.51sINFOobjective_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 + 14.51sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Got request to cancel active goal. ×2 + 14.51sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Canceling active goal... ×2 + 14.52sERRORobjective_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: 1791964411.49943018 seconds ×3 + 14.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 15.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.06sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791964412.10175633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2).[0m ×2 + 15.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791964412.75184321 seconds ×3 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2).[0m ×2 + 16.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791964413.35377479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.37sINFOobjective_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 + 16.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791964413.35567236 seconds ×3 + 16.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791964413.97069049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791964413.99184251 seconds ×3 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3).[0m ×2 + 17.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.64sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791964414.68998528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 141 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.99sINFOobjective_server_nodecaller: ×4 + 3.99sINFOobjective_server_nodetype: 0 ×4 + 3.99sINFOobjective_server_nodename: "" ×4 + 3.99sINFOobjective_server_nodeinstance_id: "" ×4 + 3.99sINFOobjective_server_node ×4 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888574 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888574 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837390 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837390 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731380 ms (missed cycles : 4). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731380 ms (missed cycles : 4).[0m ×2 + 10.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903100 ms (missed cycles : 5). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903100 ms (missed cycles : 5).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162876 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162876 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476034 ms (missed cycles : 4). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476034 ms (missed cycles : 4).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582192 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582192 ms (missed cycles : 3).[0m ×2 + 14.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.40sERRORobjective_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: 1791964339.99790478 seconds ×3 + 14.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.98sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 15.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791964340.63927531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754036 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754036 ms (missed cycles : 3).[0m ×2 + 15.34sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 15.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.38sINFOros2_control_node[2026-10-14 07:52:20.971] [info] Received new action goal ×2 + 15.38sINFOros2_control_node[2026-10-14 07:52:20.971] [info] Accepted new action goal ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212175 ms (missed cycles : 5). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212175 ms (missed cycles : 5).[0m ×2 + 16.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438905 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438905 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 59 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011829 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011829 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241816 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241816 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115268 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115268 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339869 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339869 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791964350.57673621 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791964351.20318723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-10-14 07:52:31.328] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-10-14 07:52:31.328] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.985487 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.985487 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320528 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320528 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500271 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500271 ms (missed cycles : 5).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541470 ms (missed cycles : 4). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541470 ms (missed cycles : 4).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949991 ms (missed cycles : 5). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949991 ms (missed cycles : 5).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954850 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954850 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021532 ms (missed cycles : 5). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021532 ms (missed cycles : 5).[0m ×2 + 11.36sWARNros2_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 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124231 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124231 ms (missed cycles : 3).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814766 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814766 ms (missed cycles : 2).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734504 ms (missed cycles : 4). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734504 ms (missed cycles : 4).[0m ×2 + 14.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sERRORobjective_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: 1791964361.50347733 seconds ×3 + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791964362.16237092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191632 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191632 ms (missed cycles : 2).[0m ×2 + 15.80sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 15.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.82sINFOros2_control_node[2026-10-14 07:52:43.217] [info] Received new action goal ×2 + 15.82sINFOros2_control_node[2026-10-14 07:52:43.217] [info] Accepted new action goal ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.652451 ms (missed cycles : 8). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.652451 ms (missed cycles : 8).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809552 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809552 ms (missed cycles : 2).[0m ×2 + 17.32sWARNros2_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 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 62 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603725 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603725 ms (missed cycles : 5).[0m ×2 + 0.15sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.42sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.42sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.43sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791964144.72942996 seconds ×3 + 0.45sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357793 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357793 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659337 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659337 ms (missed cycles : 6).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324255 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324255 ms (missed cycles : 2).[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_nodecaller: ×4 + 3.88sINFOobjective_server_nodetype: 0 ×4 + 3.88sINFOobjective_server_nodename: "" ×4 + 3.88sINFOobjective_server_nodeinstance_id: "" ×4 + 3.88sINFOobjective_server_node ×4 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791964148.25277901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 4.19sINFOros2_control_node[2026-10-14 07:49:08.467] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-10-14 07:49:08.467] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716468 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716468 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442168 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442168 ms (missed cycles : 4).[0m ×2 + 6.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429999 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429999 ms (missed cycles : 5).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.53sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120761 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120761 ms (missed cycles : 2).[0m ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (5.06e-07 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 5 iterations (0.00695562 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.67sINFOros2_control_node[2026-10-14 07:49:12.950] [info] Received new action goal ×2 + 8.67sINFOros2_control_node[2026-10-14 07:49:12.950] [info] Accepted new action goal ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992319 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992319 ms (missed cycles : 2).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260534 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260534 ms (missed cycles : 3).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202896 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202896 ms (missed cycles : 2).[0m ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.23sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 11.37sINFOobjective_server_nodeFound path in 1 iterations (0.00412832 s). ×2 + 11.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.63sINFOros2_control_node[2026-10-14 07:49:15.910] [info] Received new action goal ×2 + 11.63sINFOros2_control_node[2026-10-14 07:49:15.910] [info] Accepted new action goal ×2 + 12.06sINFOros2_control_node[2026-10-14 07:49:16.342] [info] Received new action goal ×2 + 12.06sINFOros2_control_node[2026-10-14 07:49:16.342] [info] Accepted new action goal ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644564 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644564 ms (missed cycles : 2).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847512 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847512 ms (missed cycles : 2).[0m ×2 + 14.21sINFOobjective_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 + 14.21sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.21sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.21sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.23sERRORobjective_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: 1791964158.51179457 seconds ×3 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946401 ms (missed cycles : 3). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946401 ms (missed cycles : 3).[0m ×2 + 14.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.93sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 15.07sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791964159.34923410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859109 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859109 ms (missed cycles : 3).[0m ×2 + 16.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 16.10sINFOros2_control_node[2026-10-14 07:49:20.383] [info] Received new action goal ×2 + 16.10sINFOros2_control_node[2026-10-14 07:49:20.383] [info] Accepted new action goal ×2 + 16.32sWARNros2_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 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694695 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694695 ms (missed cycles : 2).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577058 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577058 ms (missed cycles : 2).[0m ×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 4.162876 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162876 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476034 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476034 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582192 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582192 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sERRORobjective_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: 1791964339.99790478 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791964340.63927531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754036 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754036 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.52sINFOros2_control_node[2026-10-14 07:52:20.971] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-10-14 07:52:20.971] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212175 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212175 ms (missed cycles : 5).[0m ×2 + 5.10sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438905 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438905 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507633 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507633 ms (missed cycles : 5).[0m ×2 + 7.54sINFOros2_control_node[2026-10-14 07:52:24.992] [info] Received new action goal ×2 + 7.54sINFOros2_control_node[2026-10-14 07:52:24.992] [info] Accepted new action goal ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464287 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464287 ms (missed cycles : 2).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765046 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765046 ms (missed cycles : 3).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011829 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011829 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241816 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241816 ms (missed cycles : 2).[0m ×2 + 11.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115268 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115268 ms (missed cycles : 3).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339869 ms (missed cycles : 3). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339869 ms (missed cycles : 3).[0m ×2 + 13.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791964350.57673621 seconds ×3 + 13.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.67sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.75sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791964351.20318723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.86sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 13.87sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.88sINFOros2_control_node[2026-10-14 07:52:31.328] [info] Received new action goal ×2 + 13.88sINFOros2_control_node[2026-10-14 07:52:31.328] [info] Accepted new action goal ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.985487 ms (missed cycles : 7). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.985487 ms (missed cycles : 7).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320528 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320528 ms (missed cycles : 2).[0m ×2 + 15.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.04sWARNros2_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 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500271 ms (missed cycles : 5). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500271 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.3s | 3 errors · 51 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×4 + 1.38sINFOobjective_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 + 1.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791964113.60270000 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.92sINFOobjective_server_nodecaller: ×8 + 1.92sINFOobjective_server_nodetype: 0 ×8 + 1.92sINFOobjective_server_nodename: "" ×8 + 1.92sINFOobjective_server_nodeinstance_id: "" ×8 + 1.92sINFOobjective_server_node ×8 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791964114.20531297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791964114.32543778 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791964115.01502013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037087 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037087 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (4.92e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.91sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.93sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.04sINFOobjective_server_nodeFound path in 1 iterations (0.00378674 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.26sINFOros2_control_node[2026-10-14 07:48:39.480] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-10-14 07:48:39.480] [info] Accepted new action goal ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286413 ms (missed cycles : 4). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286413 ms (missed cycles : 4).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590206 ms (missed cycles : 4). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590206 ms (missed cycles : 4).[0m ×2 + 9.56sINFOros2_control_node[2026-10-14 07:48:41.782] [info] Received new action goal ×2 + 9.56sINFOros2_control_node[2026-10-14 07:48:41.782] [info] Accepted new action goal ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676559 ms (missed cycles : 5). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676559 ms (missed cycles : 5).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7).[0m ×2 + 11.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.22sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Accepted new action goal ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2).[0m ×2 + 12.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 12.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791964124.73116946 seconds ×3 + 13.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.05sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2).[0m ×2 + 13.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791964125.36172032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.23sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791964125.45187140 seconds ×3 + 13.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.85sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 13.91sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791964126.13372755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.02sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 14.03sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.04sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Received new action goal ×2 + 14.04sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Accepted new action goal ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2).[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 4.0s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555263 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555263 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812343 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812343 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791964191.88412714 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175654 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175654 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.37sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.37sINFOobjective_server_nodecaller: ×6 + 2.37sINFOobjective_server_nodetype: 0 ×6 + 2.37sINFOobjective_server_nodename: "" ×6 + 2.37sINFOobjective_server_nodeinstance_id: "" ×6 + 2.37sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791964192.48866296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791964192.56879544 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.32sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3).[0m ×2 + 7.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.04sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791964197.16824937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.20sINFOobjective_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 + 7.21sINFOobjective_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 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 7.50sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.54sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Received new action goal ×2 + 7.54sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Accepted new action goal ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 25 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945784 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945784 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.98 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 5.016794 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×17 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.00sINFOobjective_server_nodecaller: ×14 + 2.00sINFOobjective_server_nodetype: 0 ×14 + 2.00sINFOobjective_server_nodename: "" ×14 + 2.00sINFOobjective_server_nodeinstance_id: "" ×14 + 2.00sINFOobjective_server_node ×14 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 5.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.30sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.32sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 7.32sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079366 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079366 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8).[0m ×2 + 2.64sINFOobjective_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 + 2.64sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Canceling active goal... ×2 + 2.65sERRORobjective_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: 1791964411.49943018 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.19sINFOobjective_server_nodecaller: ×8 + 3.19sINFOobjective_server_nodetype: 0 ×8 + 3.19sINFOobjective_server_nodename: "" ×8 + 3.19sINFOobjective_server_nodeinstance_id: "" ×8 + 3.19sINFOobjective_server_node ×8 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791964412.10175633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791964412.75184321 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791964413.35377479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.51sINFOobjective_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 + 4.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791964413.35567236 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791964413.97069049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791964413.99184251 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791964414.68998528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492864 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492864 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 2.83sWARNros2_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 + 2.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_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 + 4.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791964400.51301789 seconds ×3 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[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 7.340456 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340456 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2).[0m ×2 + 2.45sWARNros2_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 + 2.47sINFOobjective_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 + 2.48sERRORobjective_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: 1791964113.60270000 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791964114.20531297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791964114.32543778 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791964115.01502013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-10-14 07:48:41.782] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-14 07:48:41.782] [info] Accepted new action goal ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676559 ms (missed cycles : 5). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676559 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7).[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2).[0m ×2 + 2.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791964124.73116946 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791964125.36172032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791964125.45187140 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791964126.13372755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.48sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4).[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 7.238206 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238206 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555263 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555263 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812343 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812343 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791964191.88412714 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175654 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175654 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791964192.48866296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.52sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791964192.56879544 seconds ×3 + 3.72sWARNros2_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 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.34sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.49sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4).[0m ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.93sINFOobjective_server_nodecaller: ×14 + 0.93sINFOobjective_server_nodetype: 0 ×14 + 0.93sINFOobjective_server_nodename: "" ×14 + 0.93sINFOobjective_server_nodeinstance_id: "" ×14 + 0.93sINFOobjective_server_node ×14 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 4.71sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.25sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 6.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 1.78sWARNros2_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 + 1.91sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.53sINFOobjective_server_nodecaller: ×6 + 2.53sINFOobjective_server_nodetype: 0 ×6 + 2.53sINFOobjective_server_nodename: "" ×6 + 2.53sINFOobjective_server_nodeinstance_id: "" ×6 + 2.53sINFOobjective_server_node ×6 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 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: 1791964400.51301789 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8).[0m ×2 + 1.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Got request to cancel active goal. ×2 + 1.63sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Canceling active goal... ×2 + 1.63sERRORobjective_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: 1791964411.49943018 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sWARNros2_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 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.17sINFOobjective_server_nodecaller: ×8 + 2.17sINFOobjective_server_nodetype: 0 ×8 + 2.17sINFOobjective_server_nodename: "" ×8 + 2.17sINFOobjective_server_nodeinstance_id: "" ×8 + 2.17sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791964412.10175633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791964412.75184321 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 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 + 3.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791964413.35377479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.49sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.49sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791964413.35567236 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791964413.97069049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791964413.99184251 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791964414.68998528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492864 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492864 ms (missed cycles : 2).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791964416.19012952 seconds ×3 + 6.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890280 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890280 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 24 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8).[0m ×2 + 1.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Got request to cancel active goal. ×2 + 1.63sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Canceling active goal... ×2 + 1.63sERRORobjective_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: 1791964411.49943018 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sWARNros2_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 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.17sINFOobjective_server_nodecaller: ×8 + 2.17sINFOobjective_server_nodetype: 0 ×8 + 2.17sINFOobjective_server_nodename: "" ×8 + 2.17sINFOobjective_server_nodeinstance_id: "" ×8 + 2.17sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791964412.10175633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791964412.75184321 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 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 + 3.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791964413.35377479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.49sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.49sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791964413.35567236 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791964413.97069049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791964413.99184251 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791964414.68998528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492864 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492864 ms (missed cycles : 2).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791964416.19012952 seconds ×3 + 6.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890280 ms (missed cycles : 3). | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[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 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7).[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791964124.73116946 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791964125.36172032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791964125.45187140 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791964126.13372755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.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 7.340456 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340456 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2).[0m ×2 + 2.45sWARNros2_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 + 2.47sINFOobjective_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 + 2.48sERRORobjective_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: 1791964113.60270000 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791964114.20531297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791964114.32543778 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791964115.01502013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_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 7.340456 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340456 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2).[0m ×2 + 2.45sWARNros2_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 + 2.47sINFOobjective_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 + 2.48sERRORobjective_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: 1791964113.60270000 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791964114.20531297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791964114.32543778 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791964115.01502013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5).[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 3.681454 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sINFOobjective_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 + 1.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791964113.60270000 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.92sINFOobjective_server_nodecaller: ×4 + 1.92sINFOobjective_server_nodetype: 0 ×4 + 1.92sINFOobjective_server_nodename: "" ×4 + 1.92sINFOobjective_server_nodeinstance_id: "" ×4 + 1.92sINFOobjective_server_node ×4 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791964114.20531297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791964114.32543778 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791964115.01502013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2).[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 3.681454 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sINFOobjective_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 + 1.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791964113.60270000 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.92sINFOobjective_server_nodecaller: ×4 + 1.92sINFOobjective_server_nodetype: 0 ×4 + 1.92sINFOobjective_server_nodename: "" ×4 + 1.92sINFOobjective_server_nodeinstance_id: "" ×4 + 1.92sINFOobjective_server_node ×4 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791964114.20531297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791964114.32543778 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791964115.01502013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2).[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 3.681454 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sINFOobjective_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 + 1.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791964113.60270000 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.92sINFOobjective_server_nodecaller: ×4 + 1.92sINFOobjective_server_nodetype: 0 ×4 + 1.92sINFOobjective_server_nodename: "" ×4 + 1.92sINFOobjective_server_nodeinstance_id: "" ×4 + 1.92sINFOobjective_server_node ×4 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791964114.20531297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791964114.32543778 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791964115.01502013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2).[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 3.681454 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681454 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874112 ms (missed cycles : 2).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sINFOobjective_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 + 1.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791964113.60270000 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.92sINFOobjective_server_nodecaller: ×4 + 1.92sINFOobjective_server_nodetype: 0 ×4 + 1.92sINFOobjective_server_nodename: "" ×4 + 1.92sINFOobjective_server_nodeinstance_id: "" ×4 + 1.92sINFOobjective_server_node ×4 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791964114.20531297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647871 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791964114.32543778 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791964115.01502013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-10-14 07:48:35.219] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049690 ms (missed cycles : 2).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440233 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456088 ms (missed cycles : 2).[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 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7).[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791964124.73116946 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791964125.36172032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791964125.45187140 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791964126.13372755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4).[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 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7).[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791964124.73116946 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791964125.36172032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791964125.45187140 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791964126.13372755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4).[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 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7).[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791964124.73116946 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791964125.36172032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791964125.45187140 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791964126.13372755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4).[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 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.718491 ms (missed cycles : 7).[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-14 07:48:43.434] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912968 ms (missed cycles : 2).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791964124.73116946 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824114 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791964125.36172032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791964125.45187140 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791964126.13372755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-10-14 07:48:46.258] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427815 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.128195 ms (missed cycles : 6).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540665 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371302 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-14 07:48:54.315] [info] Accepted new action goal ×2 + 0.34sWARNros2_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 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874778 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1791964136.56391501 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109367 ms (missed cycles : 5).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791964137.21734595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-14 07:48:57.462] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.295598 ms (missed cycles : 10).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813732 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 25 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202896 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202896 ms (missed cycles : 2).[0m ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 0.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 1 iterations (0.00412832 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOros2_control_node[2026-10-14 07:49:15.910] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-14 07:49:15.910] [info] Accepted new action goal ×2 + 1.02sINFOros2_control_node[2026-10-14 07:49:16.342] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-14 07:49:16.342] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644564 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644564 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847512 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847512 ms (missed cycles : 2).[0m ×2 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sERRORobjective_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: 1791964158.51179457 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946401 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946401 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791964159.34923410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859109 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859109 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-10-14 07:49:20.383] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-10-14 07:49:20.383] [info] Accepted new action goal ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694695 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694695 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577058 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577058 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238206 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238206 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555263 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555263 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812343 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812343 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791964191.88412714 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175654 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175654 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791964192.48866296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.52sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791964192.56879544 seconds ×3 + 3.72sWARNros2_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 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.34sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.49sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791964197.16824937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7).[0m ×2 + 5.26sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791964197.16824937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7).[0m ×2 + 5.26sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791964197.16824937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7).[0m ×2 + 5.26sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791964197.16824937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7).[0m ×2 + 5.26sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791964197.16824937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7).[0m ×2 + 5.26sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791964197.16824937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7).[0m ×2 + 5.26sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791964193.36700010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610261 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-14 07:49:53.521] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410221 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832958 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791964195.52714586 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991798 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791964197.16824937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-14 07:49:57.591] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912016 ms (missed cycles : 7).[0m ×2 + 5.26sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733071 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 warnings · 84 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843435 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843435 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857449 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857449 ms (missed cycles : 3).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835255 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835255 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791964251.18119407 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOobjective_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: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791964251.79654741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-10-14 07:50:51.981] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-10-14 07:50:51.981] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023224 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023224 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069717 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069717 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_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 + 4.80sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sWARNros2_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 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070453 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070453 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 1972 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×314 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×314 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×628 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×628 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791964317.86297154 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791964318.61329055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 1972 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×314 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×314 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×628 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×628 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791964317.86297154 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791964318.61329055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 1972 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×314 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×314 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×628 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×628 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791964317.86297154 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791964318.61329055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 1972 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×314 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×314 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×628 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×628 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791964317.86297154 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791964318.61329055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 1972 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×314 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×314 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×628 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×628 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262321 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746422 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428172 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791964317.86297154 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190477 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791964318.61329055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:51:58.817] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173529 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259825 ms (missed cycles : 5).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615859 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528349 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-14 07:52:05.691] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994015 ms (missed cycles : 3).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-10-14 07:52:07.358] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791964328.65452909 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065524 ms (missed cycles : 3).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791964329.68721342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNros2_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 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-14 07:52:09.871] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402302 ms (missed cycles : 6).[0m ×2 + 5.08sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947079 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755897 ms (missed cycles : 2).[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 4.162876 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162876 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476034 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476034 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582192 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582192 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sERRORobjective_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: 1791964339.99790478 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791964340.63927531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754036 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754036 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.52sINFOros2_control_node[2026-10-14 07:52:20.971] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-10-14 07:52:20.971] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212175 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212175 ms (missed cycles : 5).[0m ×2 + 5.10sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438905 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438905 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011829 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011829 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241816 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241816 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115268 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115268 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339869 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339869 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791964350.57673621 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791964351.20318723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-10-14 07:52:31.328] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-10-14 07:52:31.328] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.985487 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.985487 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320528 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320528 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500271 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500271 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 64 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124231 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124231 ms (missed cycles : 3).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814766 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814766 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734504 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734504 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sERRORobjective_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: 1791964361.50347733 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791964362.16237092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191632 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191632 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.46sINFOros2_control_node[2026-10-14 07:52:43.217] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-10-14 07:52:43.217] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.652451 ms (missed cycles : 8). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.652451 ms (missed cycles : 8).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809552 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809552 ms (missed cycles : 2).[0m ×2 + 5.96sWARNros2_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 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 2.83sWARNros2_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 + 2.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_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 + 4.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791964400.51301789 seconds ×3 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 2.83sWARNros2_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 + 2.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_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 + 4.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791964400.51301789 seconds ×3 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321460 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 2.83sWARNros2_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 + 2.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_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 + 4.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791964400.51301789 seconds ×3 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[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 4.547735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 1.78sWARNros2_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 + 1.91sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.53sINFOobjective_server_nodecaller: ×6 + 2.53sINFOobjective_server_nodetype: 0 ×6 + 2.53sINFOobjective_server_nodename: "" ×6 + 2.53sINFOobjective_server_nodeinstance_id: "" ×6 + 2.53sINFOobjective_server_node ×6 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 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: 1791964400.51301789 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10).[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 4.547735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 1.78sWARNros2_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 + 1.91sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.53sINFOobjective_server_nodecaller: ×6 + 2.53sINFOobjective_server_nodetype: 0 ×6 + 2.53sINFOobjective_server_nodename: "" ×6 + 2.53sINFOobjective_server_nodeinstance_id: "" ×6 + 2.53sINFOobjective_server_node ×6 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 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: 1791964400.51301789 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10).[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 4.547735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 1.78sWARNros2_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 + 1.91sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.53sINFOobjective_server_nodecaller: ×6 + 2.53sINFOobjective_server_nodetype: 0 ×6 + 2.53sINFOobjective_server_nodename: "" ×6 + 2.53sINFOobjective_server_nodeinstance_id: "" ×6 + 2.53sINFOobjective_server_node ×6 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 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: 1791964400.51301789 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10).[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 4.547735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547735 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128093 ms (missed cycles : 4).[0m ×2 + 1.78sWARNros2_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 + 1.91sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791964398.89777040 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030120 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.53sINFOobjective_server_nodecaller: ×6 + 2.53sINFOobjective_server_nodetype: 0 ×6 + 2.53sINFOobjective_server_nodename: "" ×6 + 2.53sINFOobjective_server_nodeinstance_id: "" ×6 + 2.53sINFOobjective_server_node ×6 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791964399.73005724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791964399.87019086 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734229 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791964400.47957945 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: 1791964400.51301789 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419984 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791964401.19338250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-14 07:53:21.317] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592405 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.550367 ms (missed cycles : 10).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079366 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079366 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8).[0m ×2 + 2.64sINFOobjective_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 + 2.64sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Canceling active goal... ×2 + 2.65sERRORobjective_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: 1791964411.49943018 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.19sINFOobjective_server_nodecaller: ×8 + 3.19sINFOobjective_server_nodetype: 0 ×8 + 3.19sINFOobjective_server_nodename: "" ×8 + 3.19sINFOobjective_server_nodeinstance_id: "" ×8 + 3.19sINFOobjective_server_node ×8 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791964412.10175633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791964412.75184321 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791964413.35377479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.51sINFOobjective_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 + 4.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791964413.35567236 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791964413.97069049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791964413.99184251 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791964414.68998528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079366 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079366 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994704 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640572 ms (missed cycles : 8).[0m ×2 + 2.64sINFOobjective_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 + 2.64sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-10-14 07:53:31.493] [info] Canceling active goal... ×2 + 2.65sERRORobjective_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: 1791964411.49943018 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.19sINFOobjective_server_nodecaller: ×8 + 3.19sINFOobjective_server_nodetype: 0 ×8 + 3.19sINFOobjective_server_nodename: "" ×8 + 3.19sINFOobjective_server_nodeinstance_id: "" ×8 + 3.19sINFOobjective_server_node ×8 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791964412.10175633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982634 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791964412.75184321 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206562 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791964413.35377479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.51sINFOobjective_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 + 4.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791964413.35567236 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791964413.97069049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791964413.99184251 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950197 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791964414.68998528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×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 | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 10.8s | 51 warnings · 767 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-14-07-47-56-185823-aac5f81315e1-8124 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.68sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.68sINFOcontroller_managerupdate rate is 600 Hz + 0.68sINFOcontroller_managerOverruns handling is : enabled + 0.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.68sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584168 ms (missed cycles : 3). + 0.93sINFOros2_control_node-1process started with pid [8172] ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.93sINFOmove_group-9process started with pid [8223] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [8224] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [8225] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [8226] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [8227] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [8228] ×2 + 0.93sINFOcomponent_container_mt-15process started with pid [8229] ×2 + 0.93sINFOcomponent_container_mt-16process started with pid [8230] ×2 + 0.93sINFOexecute_objective_bridge-17process started with pid [8231] ×2 + 0.93sINFOui_teleop_bridge-18process started with pid [8232] ×2 + 0.93sINFOweb_bridge-19process started with pid [8233] ×2 + 0.93sINFOtf_visualization_relay-20process started with pid [8299] ×2 + 0.93sINFOjoint_state_visualization_relay-21process started with pid [8300] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8303] ×2 + 0.93sINFOvideo_server-23process started with pid [8305] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8308] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8309] ×2 + 0.95sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2-2process started with pid [8173] ×2 + 0.95sINFOros2-3process started with pid [8174] ×2 + 0.95sINFOros2-4process started with pid [8175] ×2 + 0.95sINFOros2-5process started with pid [8176] ×2 + 0.95sINFOros2-6process started with pid [8177] ×2 + 0.95sINFOros2-7process started with pid [8178] ×2 + 0.95sINFOros2-8process started with pid [8179] ×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 3.584168 ms (missed cycles : 3).[0m ×2 + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.36sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.38sINFOvideo_server2026/10/14 07:47:57 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.38sINFOvideo_server2026/10/14 07:47:57 INF configuration loaded from /tmp/moveit-webrtc-7kqux5b7/mediamtx.yml ×2 + 1.39sINFOvideo_server2026/10/14 07:47:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.39sINFOvideo_server2026/10/14 07:47:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.52sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.85sINFOweb_video_auth_proxy2026-10-14 07:47:58,372 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.85sINFOweb_video_auth_proxy2026-10-14 07:47:58,374 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.85sINFOweb_bridge_auth_proxy2026-10-14 07:47:58,379 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.88sINFOmove_group[2026-10-14 07:47:58.410] [moveit_pro_license] [info] ×2 + 1.88sINFOmove_group************************************************* ×4 + 1.88sINFOmove_group* MoveIt Pro License ×2 + 1.88sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.05sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.07sINFOros2_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 + 2.07sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319101 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319101 ms (missed cycles : 2).[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.39sINFOwaypoint_manager_node[2026-10-14 07:47:58.920] [moveit_pro_license] [info] ×2 + 2.39sINFOwaypoint_manager_node************************************************* ×4 + 2.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.45sINFOmove_group ×4 + 2.45sINFOmove_group[92mYou can start planning now![0m ×2 + 2.53sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.33sINFOobjective_server_node[2026-10-14 07:47:59.857] [moveit_pro_license] [info] ×2 + 3.33sINFOobjective_server_node************************************************* ×4 + 3.33sINFOobjective_server_node* MoveIt Pro License ×2 + 3.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOobjective_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 + 3.45sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.46sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.76sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.76sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.11sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.11sINFOros2_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 + 4.11sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.11sWARNros2_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 + 4.11sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.11sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.11sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.11sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.11sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.11sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.11sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.11sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.11sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.11sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.11sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.11sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.11sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.11sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.11sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.11sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.11sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.11sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.11sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.12sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944303 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944303 ms (missed cycles : 2).[0m ×2 + 4.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.39sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h + 4.39sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h [0m ×2 + 4.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.44sINFOros2_control_node[2026-10-14 07:48:00.965] [info] Controller state will be published at 20 Hz. ×2 + 4.44sINFOros2_control_node[2026-10-14 07:48:00.966] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.61sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.61sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.66sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 4.66sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.66sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.69sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.69sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.69sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.69sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.69sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h + 4.69sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h [0m ×2 + 4.70sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.72sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.72sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.72sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.72sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.72sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.74sINFOros2-8process has finished cleanly [pid 8179] ×2 + 4.74sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.75sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.75sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.96sINFOcomponent_container_mt[2026-10-14 07:48:01.486] [moveit_pro_license] [info] ×2 + 4.96sINFOcomponent_container_mt************************************************* ×4 + 4.96sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.96sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h + 5.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h [0m ×2 + 5.10sINFOros2-3process has finished cleanly [pid 8174] ×2 + 5.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.14sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.14sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587575 ms (missed cycles : 2). + 5.15sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587575 ms (missed cycles : 2).[0m ×2 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.17sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.43sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.44sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h + 5.44sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h [0m ×2 + 5.48sINFOros2-5process has finished cleanly [pid 8176] ×2 + 5.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.50sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.50sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.50sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.51sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.84sINFOros2-4process has finished cleanly [pid 8175] ×2 + 5.88sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.91sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h + 5.91sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h [0m ×2 + 5.95sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.95sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.95sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.95sINFOros2_control_node[2026-10-14 07:48:02.478] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.95sINFOros2_control_node[2026-10-14 07:48:02.478] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.98sINFOros2_control_node[2026-10-14 07:48:02.502] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.98sINFOros2_control_node[2026-10-14 07:48:02.502] [info] Controller state will be published at 50 Hz. ×2 + 5.98sINFOros2_control_node[2026-10-14 07:48:02.510] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h + 6.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h [0m ×2 + 6.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.32sINFOros2-6process has finished cleanly [pid 8177] ×2 + 6.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.33sINFOforce_torque_sensor_broadcasterconfigure successful + 6.33sINFOros2_control_nodeconfigure successful[0m ×2 + 6.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.34sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.73sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.73sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.73sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.73sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.76sINFOros2-2process has finished cleanly [pid 8173] ×2 + 6.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h + 6.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_97uaek6n --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_q1voz83h --params-file /tmp/launch_params_bwxaut2h [0m ×2 + 6.89sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.89sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.92sINFOros2_control_node[2026-10-14 07:48:03.450] [info] Controller state will be published at 10 Hz. ×2 + 6.92sINFOros2_control_node[2026-10-14 07:48:03.451] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144086 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144086 ms (missed cycles : 2).[0m ×2 + 7.24sINFOros2-7process has finished cleanly [pid 8178] ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945784 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945784 ms (missed cycles : 2).[0m ×2 + 8.69sWARNros2_control_nodeCamera render tick took 1.98 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 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4).[0m ×2 + 9.69sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 9.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 9.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 9.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 9.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 9.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 9.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 9.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 9.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 9.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 9.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 9.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 9.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 10.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 10.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 10.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 10.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 10.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 10.36sINFOobjective_server_nodecaller: ×10 + 10.36sINFOobjective_server_nodetype: 0 ×10 + 10.36sINFOobjective_server_nodename: "" ×10 + 10.36sINFOobjective_server_nodeinstance_id: "" ×10 + 10.36sINFOobjective_server_node ×10 + 10.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 10.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 11.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 11.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 11.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 12.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 12.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 13.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 13.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 13.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 13.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 14.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 14.14sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 23 warnings · 386 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.32sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 5.32sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 5.64sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 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 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.68sINFOobjective_server_nodecaller: ×14 + 0.68sINFOobjective_server_nodetype: 0 ×14 + 0.68sINFOobjective_server_nodename: "" ×14 + 0.68sINFOobjective_server_nodeinstance_id: "" ×14 + 0.68sINFOobjective_server_node ×14 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 4.45sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.99sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 6.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 20 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 187 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-14-07-47-56-185823-aac5f81315e1-8124 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.68sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.68sINFOcontroller_managerupdate rate is 600 Hz + 0.68sINFOcontroller_managerOverruns handling is : enabled + 0.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.68sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584168 ms (missed cycles : 3). + 0.93sINFOros2_control_node-1process started with pid [8172] ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.93sINFOmove_group-9process started with pid [8223] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [8224] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [8225] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [8226] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [8227] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [8228] ×2 + 0.93sINFOcomponent_container_mt-15process started with pid [8229] ×2 + 0.93sINFOcomponent_container_mt-16process started with pid [8230] ×2 + 0.93sINFOexecute_objective_bridge-17process started with pid [8231] ×2 + 0.93sINFOui_teleop_bridge-18process started with pid [8232] ×2 + 0.93sINFOweb_bridge-19process started with pid [8233] ×2 + 0.93sINFOtf_visualization_relay-20process started with pid [8299] ×2 + 0.93sINFOjoint_state_visualization_relay-21process started with pid [8300] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8303] ×2 + 0.93sINFOvideo_server-23process started with pid [8305] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8308] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8309] ×2 + 0.95sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2-2process started with pid [8173] ×2 + 0.95sINFOros2-3process started with pid [8174] ×2 + 0.95sINFOros2-4process started with pid [8175] ×2 + 0.95sINFOros2-5process started with pid [8176] ×2 + 0.95sINFOros2-6process started with pid [8177] ×2 + 0.95sINFOros2-7process started with pid [8178] ×2 + 0.95sINFOros2-8process started with pid [8179] ×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 3.584168 ms (missed cycles : 3).[0m ×2 + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.36sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.38sINFOvideo_server2026/10/14 07:47:57 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.38sINFOvideo_server2026/10/14 07:47:57 INF configuration loaded from /tmp/moveit-webrtc-7kqux5b7/mediamtx.yml ×2 + 1.39sINFOvideo_server2026/10/14 07:47:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.39sINFOvideo_server2026/10/14 07:47:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.52sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.85sINFOweb_video_auth_proxy2026-10-14 07:47:58,372 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.85sINFOweb_video_auth_proxy2026-10-14 07:47:58,374 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.85sINFOweb_bridge_auth_proxy2026-10-14 07:47:58,379 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.88sINFOmove_group[2026-10-14 07:47:58.410] [moveit_pro_license] [info] ×2 + 1.88sINFOmove_group************************************************* ×4 + 1.88sINFOmove_group* MoveIt Pro License ×2 + 1.88sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.05sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.07sINFOros2_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 + 2.07sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319101 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319101 ms (missed cycles : 2).[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.39sINFOwaypoint_manager_node[2026-10-14 07:47:58.920] [moveit_pro_license] [info] ×2 + 2.39sINFOwaypoint_manager_node************************************************* ×4 + 2.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.45sINFOmove_group ×4 + 2.45sINFOmove_group[92mYou can start planning now![0m ×2 + 2.53sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.33sINFOobjective_server_node[2026-10-14 07:47:59.857] [moveit_pro_license] [info] ×2 + 3.33sINFOobjective_server_node************************************************* ×4 + 3.33sINFOobjective_server_node* MoveIt Pro License ×2 + 3.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOobjective_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 + 3.45sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.46sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 20 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4).[0m ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.93sINFOobjective_server_nodecaller: ×14 + 0.93sINFOobjective_server_nodetype: 0 ×14 + 0.93sINFOobjective_server_nodename: "" ×14 + 0.93sINFOobjective_server_nodeinstance_id: "" ×14 + 0.93sINFOobjective_server_node ×14 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 4.71sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.25sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 20 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4).[0m ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.93sINFOobjective_server_nodecaller: ×14 + 0.93sINFOobjective_server_nodetype: 0 ×14 + 0.93sINFOobjective_server_nodename: "" ×14 + 0.93sINFOobjective_server_nodeinstance_id: "" ×14 + 0.93sINFOobjective_server_node ×14 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 4.71sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.25sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 20 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016794 ms (missed cycles : 4).[0m ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.93sINFOobjective_server_nodecaller: ×14 + 0.93sINFOobjective_server_nodetype: 0 ×14 + 0.93sINFOobjective_server_nodename: "" ×14 + 0.93sINFOobjective_server_nodeinstance_id: "" ×14 + 0.93sINFOobjective_server_node ×14 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 4.71sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.25sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-10-14 07:48:12.208] [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 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.68sINFOobjective_server_nodecaller: ×14 + 0.68sINFOobjective_server_nodetype: 0 ×14 + 0.68sINFOobjective_server_nodename: "" ×14 + 0.68sINFOobjective_server_nodeinstance_id: "" ×14 + 0.68sINFOobjective_server_node ×14 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 4.45sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.99sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 6.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 20 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791964086.95087361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791964086.96106410 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449388 ms (missed cycles : 5).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.32sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 5.32sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 5.64sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[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: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.17sINFOros2_control_node[2026-10-14 07:48:14.726] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-10-14 07:48:14.726] [info] Accepted new action goal ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933234 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933234 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791964087.55723786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780665 ms (missed cycles : 5).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791964088.46737647 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791964089.09315848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791964089.15332866 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698585 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791964089.81558824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791964089.83571124 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791964090.43360019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006388 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791964090.58416677 seconds ×3 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791964091.27266192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791964091.33280802 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648137 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791964092.06091952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.2868e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-14 07:48:12.208] [info] Accepted new action goal ×2 + 4.97sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508824 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273286 ms (missed cycles : 2).[0m ×2 | ||||