MoveIt Pro Objective Integration Tests

137

Total objective tests

Objectives passed

Objectives failed

103

Objectives skipped

10.2s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

30 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	120 warnings · 23772 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792756647.26721454 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.55sINFOobjective_server_nodecaller: ×4 + 0.55sINFOobjective_server_nodetype: 0 ×4 + 0.55sINFOobjective_server_nodename: "" ×4 + 0.55sINFOobjective_server_nodeinstance_id: "" ×4 + 0.55sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792756647.88608503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.79sINFOros2_control_node[2026-10-23 11:57:28.061] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-10-23 11:57:28.061] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695642 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695642 ms (missed cycles : 2).[0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816823 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816823 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal ×3918 + 3.86sINFOjoint_trajectory_controllerAccepted new action goal ×3918 + 3.87sINFOros2_control_nodeReceived new action goal[0m ×7836 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×7836 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785253 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785253 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108218 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108218 ms (missed cycles : 2).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776358 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776358 ms (missed cycles : 2).[0m ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097817 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097817 ms (missed cycles : 2).[0m ×2 + 9.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 9.13sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 9.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 9.13sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 9.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218708 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218708 ms (missed cycles : 2).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705567 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705567 ms (missed cycles : 2).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055128 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055128 ms (missed cycles : 2).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650587 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650587 ms (missed cycles : 2).[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018121 ms (missed cycles : 2). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018121 ms (missed cycles : 2).[0m ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720563 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720563 ms (missed cycles : 2).[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931763 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931763 ms (missed cycles : 2).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851662 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851662 ms (missed cycles : 2).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755876 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755876 ms (missed cycles : 2).[0m ×2 + 19.38sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160577 ms (missed cycles : 2). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160577 ms (missed cycles : 2).[0m ×2 + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537755 ms (missed cycles : 2). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537755 ms (missed cycles : 2).[0m ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953317 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953317 ms (missed cycles : 2).[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216950 ms (missed cycles : 2). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216950 ms (missed cycles : 2).[0m ×2 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996853 ms (missed cycles : 2). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996853 ms (missed cycles : 2).[0m ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187861 ms (missed cycles : 2). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187861 ms (missed cycles : 2).[0m ×2 + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713569 ms (missed cycles : 2). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713569 ms (missed cycles : 2).[0m ×2 + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681519 ms (missed cycles : 2). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681519 ms (missed cycles : 2).[0m ×2 + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342413 ms (missed cycles : 2). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342413 ms (missed cycles : 2).[0m ×2 + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386763 ms (missed cycles : 4). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386763 ms (missed cycles : 4).[0m ×2 + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867049 ms (missed cycles : 2). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867049 ms (missed cycles : 2).[0m ×2 + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873905 ms (missed cycles : 2). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873905 ms (missed cycles : 2).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925846 ms (missed cycles : 2). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925846 ms (missed cycles : 2).[0m ×2 + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089136 ms (missed cycles : 2). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089136 ms (missed cycles : 2).[0m ×2 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779590 ms (missed cycles : 2). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779590 ms (missed cycles : 2).[0m ×2 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755237 ms (missed cycles : 2). + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755237 ms (missed cycles : 2).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728649 ms (missed cycles : 2). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728649 ms (missed cycles : 2).[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292564 ms (missed cycles : 2). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292564 ms (missed cycles : 2).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851119 ms (missed cycles : 2). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851119 ms (missed cycles : 2).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726291 ms (missed cycles : 2). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726291 ms (missed cycles : 2).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900635 ms (missed cycles : 2). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900635 ms (missed cycles : 2).[0m ×2 + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716814 ms (missed cycles : 2). + 42.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716814 ms (missed cycles : 2).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367013 ms (missed cycles : 2). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367013 ms (missed cycles : 2).[0m ×2 + 44.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792756691.75284910 seconds ×3 + 44.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 45.03sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 45.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792756692.40293646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 45.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 45.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 45.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 45.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 45.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 45.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 45.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.28sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 45.29sINFOros2_control_node[2026-10-23 11:58:12.557] [info] Received new action goal ×2 + 45.29sINFOros2_control_node[2026-10-23 11:58:12.557] [info] Accepted new action goal ×2 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079738 ms (missed cycles : 2). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079738 ms (missed cycles : 2).[0m ×2 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418426 ms (missed cycles : 2). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418426 ms (missed cycles : 2).[0m ×2
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.7s	323 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792756593.57008290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.977] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.978] [info] Accepted new action goal ×2 + 7.02sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 7.04sINFOros2_control_node[2026-10-23 11:56:36.845] [info] Received new action goal ×2 + 7.04sINFOros2_control_node[2026-10-23 11:56:36.845] [info] Accepted new action goal ×2 + 10.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.18sINFOros2_control_node[2026-10-23 11:56:39.984] [info] Received new action goal ×2 + 10.18sINFOros2_control_node[2026-10-23 11:56:39.984] [info] Accepted new action goal ×2 + 13.16sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 13.16sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.21sINFOros2_control_node[2026-10-23 11:56:43.007] [info] Received new action goal ×2 + 13.21sINFOros2_control_node[2026-10-23 11:56:43.007] [info] Accepted new action goal ×2 + 16.17sINFOobjective_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 + 16.17sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.17sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.17sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.17sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.84sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.68sINFOobjective_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 + 23.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.68sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.69sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.69sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.69sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.53sINFOros2_control_node[2026-10-23 11:56:54.328] [info] Received new action goal ×2 + 24.53sINFOros2_control_node[2026-10-23 11:56:54.328] [info] Accepted new action goal ×2 + 25.71sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.72sINFOobjective_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 + 26.00sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 26.04sINFOros2_control_node[2026-10-23 11:56:55.842] [info] Received new action goal ×2 + 26.04sINFOros2_control_node[2026-10-23 11:56:55.842] [info] Accepted new action goal ×2 + 28.31sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 28.32sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.33sINFOros2_control_node[2026-10-23 11:56:58.129] [info] Received new action goal ×2 + 28.33sINFOros2_control_node[2026-10-23 11:56:58.129] [info] Accepted new action goal ×2 + 31.36sINFOros2_control_node[2026-10-23 11:57:01.159] [info] Received new action goal ×2 + 31.36sINFOros2_control_node[2026-10-23 11:57:01.159] [info] Accepted new action goal ×2 + 33.95sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 33.96sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.00sINFOros2_control_node[2026-10-23 11:57:03.802] [info] Received new action goal ×2 + 34.00sINFOros2_control_node[2026-10-23 11:57:03.802] [info] Accepted new action goal ×2 + 44.71sINFOros2_control_node[2026-10-23 11:57:14.511] [info] Received new action goal ×2 + 44.71sINFOros2_control_node[2026-10-23 11:57:14.511] [info] Accepted new action goal ×2 + 45.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792756635.66687918 seconds ×3 + 46.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.43sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.64sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792756636.44530964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.66sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 47.69sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.70sINFOros2_control_node[2026-10-23 11:57:17.500] [info] Received new action goal ×2 + 47.70sINFOros2_control_node[2026-10-23 11:57:17.500] [info] Accepted new action goal ×2
✓ passed	Record Surface Coverage Demo	record_surface_coverage_demo.xml	35.1s	3 errors · 27 warnings · 299 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756757.23243666 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792756757.85617352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.67sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 1.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.68sINFOros2_control_node[2026-10-23 11:59:18.910] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-10-23 11:59:18.910] [info] Accepted new action goal ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802787 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802787 ms (missed cycles : 2).[0m ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810694 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810694 ms (missed cycles : 3).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561776 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561776 ms (missed cycles : 3).[0m ×2 + 6.66sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 6.67sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 6.72sINFOros2_control_node[2026-10-23 11:59:23.949] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-23 11:59:23.949] [info] Accepted new action goal ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974368 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974368 ms (missed cycles : 2).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332576 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332576 ms (missed cycles : 2).[0m ×2 + 16.50sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 16.51sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 16.52sINFOros2_control_node[2026-10-23 11:59:33.749] [info] Received new action goal ×2 + 16.52sINFOros2_control_node[2026-10-23 11:59:33.749] [info] Accepted new action goal ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202403 ms (missed cycles : 5). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202403 ms (missed cycles : 5).[0m ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227644 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227644 ms (missed cycles : 2).[0m ×2 + 21.78sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 21.79sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 21.84sINFOros2_control_node[2026-10-23 11:59:39.067] [info] Received new action goal ×2 + 21.84sINFOros2_control_node[2026-10-23 11:59:39.067] [info] Accepted new action goal ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418953 ms (missed cycles : 3). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418953 ms (missed cycles : 3).[0m ×2 + 29.42sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.28sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 31.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 31.30sINFOros2_control_node[2026-10-23 11:59:48.531] [info] Received new action goal ×2 + 31.30sINFOros2_control_node[2026-10-23 11:59:48.531] [info] Accepted new action goal ×2 + 35.09sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 35.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 35.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 36.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 36.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 36.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 36.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 36.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 36.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 36.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 36.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 37.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 37.31sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 37.37sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.48sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 37.48sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 37.49sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 37.49sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	22.1s	69 warnings · 15898 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2617 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2617 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5234 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×5234 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900635 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900635 ms (missed cycles : 2).[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716814 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716814 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367013 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367013 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792756691.75284910 seconds ×3 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOobjective_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: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792756692.40293646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-10-23 11:58:12.557] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-10-23 11:58:12.557] [info] Accepted new action goal ×2 + 5.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.30sINFOobjective_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 + 5.32sINFOobjective_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 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079738 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079738 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418426 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418426 ms (missed cycles : 2).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717142 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717142 ms (missed cycles : 2).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053301 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053301 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693733 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693733 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354727 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354727 ms (missed cycles : 2).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706489 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706489 ms (missed cycles : 2).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812769 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812769 ms (missed cycles : 2).[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362352 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362352 ms (missed cycles : 2).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667241 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667241 ms (missed cycles : 2).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737718 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737718 ms (missed cycles : 2).[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701336 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701336 ms (missed cycles : 2).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723909 ms (missed cycles : 2). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723909 ms (missed cycles : 2).[0m ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474496 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474496 ms (missed cycles : 2).[0m ×2 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835927 ms (missed cycles : 2). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835927 ms (missed cycles : 2).[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2).[0m ×2 + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2).[0m ×2 + 25.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792756713.89549112 seconds ×3 + 25.98sINFOobjective_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: "" + 25.98sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2).[0m ×2 + 26.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792756714.64250374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.27sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 26.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.28sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Received new action goal ×2 + 26.28sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Accepted new action goal ×2 + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2).[0m ×2
✓ passed	Live Surface Coverage Demo	live_surface_coverage_demo.xml	19.5s	3 errors · 6 warnings · 189 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00347356 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.40sINFOros2_control_node[2026-10-23 11:55:54.263] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-10-23 11:55:54.263] [info] Accepted new action goal ×2 + 0.83sINFOros2_control_node[2026-10-23 11:55:54.695] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-23 11:55:54.695] [info] Accepted new action goal ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sINFOobjective_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 + 2.97sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.97sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.99sERRORobjective_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: 1792756556.86006761 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Live Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792756557.67549610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-10-23 11:55:58.699] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-10-23 11:55:58.699] [info] Accepted new action goal ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078155 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078155 ms (missed cycles : 2).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040886 ms (missed cycles : 5). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040886 ms (missed cycles : 5).[0m ×2 + 9.03sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.04sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.09sINFOros2_control_node[2026-10-23 11:56:02.953] [info] Received new action goal ×2 + 9.09sINFOros2_control_node[2026-10-23 11:56:02.953] [info] Accepted new action goal ×2 + 18.47sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.58sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 18.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.60sINFOros2_control_node[2026-10-23 11:56:12.467] [info] Received new action goal ×2 + 18.60sINFOros2_control_node[2026-10-23 11:56:12.467] [info] Accepted new action goal ×2 + 22.51sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792756576.38210106 seconds ×3 + 23.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.05sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.20sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792756577.06396818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.35sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 23.36sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.37sINFOros2_control_node[2026-10-23 11:56:17.238] [info] Received new action goal ×2 + 23.37sINFOros2_control_node[2026-10-23 11:56:17.238] [info] Accepted new action goal ×2 + 25.89sINFOros2_control_node[2026-10-23 11:56:19.757] [info] Received new action goal ×2 + 25.89sINFOros2_control_node[2026-10-23 11:56:19.757] [info] Accepted new action goal ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.9s	3 warnings · 203 info
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792756576.38210106 seconds ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792756577.06396818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.84sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×4 + 0.84sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.86sINFOros2_control_node[2026-10-23 11:56:17.238] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-10-23 11:56:17.238] [info] Accepted new action goal ×2 + 3.38sINFOros2_control_node[2026-10-23 11:56:19.757] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-23 11:56:19.757] [info] Accepted new action goal ×2 + 11.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792756588.31940603 seconds ×3 + 12.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.48sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792756588.92715406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 12.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 12.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792899 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792899 ms (missed cycles : 3).[0m ×2 + 12.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792756588.99733114 seconds ×3 + 13.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.35sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.42sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.55sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 13.56sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 15.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.6s	73 errors · 22 warnings · 441 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756804.73900032 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756805.34395242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756806.43412280 seconds ×3 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792756807.05018306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.32sINFOobjective_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 + 2.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792756807.05250168 seconds ×3 + 2.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792756807.65604949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792756807.69705939 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756808.30746531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139852 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139852 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792756809.42765307 seconds ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.713429 ms (missed cycles : 8). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.713429 ms (missed cycles : 8).[0m ×2 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 10.73sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.74sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.75sERRORweb_video_auth_proxy-25process has died [pid 8488, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.75sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.75sERRORweb_bridge_auth_proxy-24process has died [pid 8478, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.75sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.76sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.76sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.76sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.77sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.77sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.78sINFOvideo_server-23process has finished cleanly [pid 8477] ×2 + 10.78sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.78sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.79sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.79sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.80sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.80sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.81sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.81sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247849 ms (missed cycles : 2). + 10.82sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.82sINFOcontroller_managerShutdown request received.... + 10.82sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.82sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.82sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.82sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.82sINFOvideo_server2026/10/23 12:00:15 INF shutting down gracefully ×2 + 10.82sINFOvideo_server2026/10/23 12:00:15 INF [WebRTC] closing ×2 + 10.82sINFOvideo_server2026/10/23 12:00:15 INF [RTSP] closing ×2 + 10.82sINFOvideo_server2026/10/23 12:00:15 INF waiting for running hooks ×2 + 10.82sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.82sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.82sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.82sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.82sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.82sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.82sERRORmove_groupStack trace (most recent call last) in thread 8890: ×2 + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247849 ms (missed cycles : 2).[0m ×2 + 10.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOcontroller_managerShutting down the controller manager. + 10.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.83sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.83sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.83sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.83sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24570fdcc3, in __clone ×2 + 10.83sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2457070b83, in ×2 + 10.83sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.83sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2457301db3, in ×2 + 10.83sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.83sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 10.83sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f2457a6be94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.83sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2457695620, in rclcpp::Rate::sleep() ×2 + 10.83sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24575d7d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.83sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2457599087, in ×2 + 10.83sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24572d0390, in __cxa_throw ×2 + 10.83sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24572baa54, in std::terminate() ×2 + 10.83sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24572d00d9, in ×2 + 10.83sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24572baff4, in ×2 + 10.83sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2456ffc8fe, in abort ×2 + 10.83sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f245701927d, in raise ×2 + 10.83sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2457072c0c, in pthread_kill ×2 + 10.83sERRORmove_groupAborted (Signal sent by tkill() 8377 0) ×2 + 10.84sERRORmove_group-9process has died [pid 8377, 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_ytvdf_8t --params-file /tmp/launch_params_pup5uczb --params-file /tmp/launch_params_7rqwokvg --params-file /tmp/launch_params_j3rd5df1 --params-file /tmp/launch_params_e2zl_n2y --params-file /tmp/launch_params_c9qbcfwq']. ×2 + 11.03sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.03sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.03sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.79sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.79sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.79sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.79sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.79sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.79sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.79sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.79sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.79sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.79sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.79sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.79sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.79sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.79sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.79sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.79sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.79sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.79sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.79sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.81sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8474] ×2 + 11.81sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.84sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8380] ×2 + 11.84sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8381] ×2 + 11.85sERRORjoint_state_visualization_relay-21process has died [pid 8473, 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_irmnfn7x']. ×2 + 11.85sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.85sINFOtf_visualization_relay-20process has finished cleanly [pid 8472] ×2 + 11.85sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.88sINFOwaypoint_manager_node-11process has finished cleanly [pid 8379] ×2 + 11.88sINFOui_teleop_bridge-18process has finished cleanly [pid 8386] ×2 + 11.89sINFOparameter_manager_node-10process has finished cleanly [pid 8378] ×2 + 11.89sINFOexecute_objective_bridge-17process has finished cleanly [pid 8385] ×2 + 11.94sINFOcomponent_container_mt-16process has finished cleanly [pid 8384] ×2 + 11.96sINFOobjective_server_node[0;m[2026-10-23 12:00:16.693] [moveit_pro_license] [info] ×2 + 11.96sINFOobjective_server_node************************************************* ×4 + 11.96sINFOobjective_server_node* MoveIt Pro License ×2 + 11.96sINFOobjective_server_node* Application has successfully terminated ×2 + 12.23sINFOobjective_server_node_main-14process has finished cleanly [pid 8382] ×2 + 12.23sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.98sINFOcomponent_container_mt-15process has finished cleanly [pid 8383] ×2 + 13.01sINFOweb_bridge-19process has finished cleanly [pid 8387] ×2 + 13.01sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.50sINFOros2_control_node-1process has finished cleanly [pid 8358] ×2
✓ passed	Push Button	move_with_velocity_and_force.xml	11.6s	6 warnings · 220 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.93sINFOros2_control_node[2026-10-23 11:57:14.511] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-10-23 11:57:14.511] [info] Accepted new action goal ×2 + 2.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792756635.66687918 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.65sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.66sINFOobjective_server_nodecaller: ×4 + 2.66sINFOobjective_server_nodetype: 0 ×4 + 2.66sINFOobjective_server_nodename: "" ×4 + 2.66sINFOobjective_server_nodeinstance_id: "" ×4 + 2.66sINFOobjective_server_node ×4 + 2.87sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792756636.44530964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.92sINFOros2_control_node[2026-10-23 11:57:17.500] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-10-23 11:57:17.500] [info] Accepted new action goal ×2 + 7.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.62sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.62sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.62sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.62sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.05sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 10.07sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.08sINFOros2_control_node[2026-10-23 11:57:23.662] [info] Received new action goal ×2 + 10.08sINFOros2_control_node[2026-10-23 11:57:23.662] [info] Accepted new action goal ×2 + 13.69sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792756647.26721454 seconds ×3 + 14.24sINFOobjective_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: "" + 14.24sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792756647.88608503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.48sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 14.48sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.48sINFOros2_control_node[2026-10-23 11:57:28.061] [info] Received new action goal ×2 + 14.48sINFOros2_control_node[2026-10-23 11:57:28.061] [info] Accepted new action goal ×2 + 15.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.75sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695642 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695642 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816823 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816823 ms (missed cycles : 2).[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	11.2s	3 errors · 3 warnings · 225 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792756522.90765572 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.16sINFOobjective_server_nodecaller: ×6 + 2.16sINFOobjective_server_nodetype: 0 ×6 + 2.16sINFOobjective_server_nodename: "" ×6 + 2.16sINFOobjective_server_nodeinstance_id: "" ×6 + 2.16sINFOobjective_server_node ×6 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792756523.53010535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792756523.61027956 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792756524.27743936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×4 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Accepted new action goal ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X________X] ×8 + 6.48sINFOros2_control_node[2026-10-23 11:55:27.762] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-10-23 11:55:27.762] [info] Accepted new action goal ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 8.82sINFOros2_control_node[2026-10-23 11:55:30.099] [info] Received new action goal ×2 + 8.82sINFOros2_control_node[2026-10-23 11:55:30.099] [info] Accepted new action goal ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 11.17sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 11.17sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 13.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.50sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 13.51sERRORobjective_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: 1792756534.78604460 seconds ×3 + 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: "" + 14.06sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 14.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.33sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 14.33sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.1s	9 errors · 12 warnings · 211 info
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.00sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1792756542.80560040 seconds ×3 + 0.03sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792756546.39632440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.82sINFOros2_control_node[2026-10-23 11:55:46.590] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-10-23 11:55:46.590] [info] Accepted new action goal ×2 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020408 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020408 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735695 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735695 ms (missed cycles : 2).[0m ×2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.89sINFOobjective_server_nodeFound path in 5 iterations (0.00703839 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.200375 ms (missed cycles : 7). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.200375 ms (missed cycles : 7).[0m ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.56sINFOros2_control_node[2026-10-23 11:55:51.334] [info] Received new action goal ×2 + 8.56sINFOros2_control_node[2026-10-23 11:55:51.334] [info] Accepted new action goal ×2 + 11.10sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 11.10sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.10sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 11.25sINFOobjective_server_nodeFound path in 1 iterations (0.00347356 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.49sINFOros2_control_node[2026-10-23 11:55:54.263] [info] Received new action goal ×2 + 11.49sINFOros2_control_node[2026-10-23 11:55:54.263] [info] Accepted new action goal ×2 + 11.92sINFOros2_control_node[2026-10-23 11:55:54.695] [info] Received new action goal ×2 + 11.92sINFOros2_control_node[2026-10-23 11:55:54.695] [info] Accepted new action goal ×2 + 14.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.07sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.07sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.07sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.07sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.09sERRORobjective_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: 1792756556.86006761 seconds ×3 + 14.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Live Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.78sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.90sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792756557.67549610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.92sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 15.93sINFOros2_control_node[2026-10-23 11:55:58.699] [info] Received new action goal ×2 + 15.93sINFOros2_control_node[2026-10-23 11:55:58.699] [info] Accepted new action goal ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.1s	3 errors · 3 warnings · 426 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.83sINFOobjective_server_nodecaller: ×12 + 0.83sINFOobjective_server_nodetype: 0 ×12 + 0.83sINFOobjective_server_nodename: "" ×12 + 0.83sINFOobjective_server_nodeinstance_id: "" ×12 + 0.83sINFOobjective_server_node ×12 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.92sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.44sINFOros2_control_node[2026-10-23 11:54:53.081] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-10-23 11:54:53.081] [info] Accepted new action goal ×2 + 10.07sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). ×2 + 10.10sINFOros2_control_node[2026-10-23 11:54:56.740] [info] Received new action goal ×2 + 10.10sINFOros2_control_node[2026-10-23 11:54:56.740] [info] Accepted new action goal ×2 + 13.41sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.44sINFOros2_control_node[2026-10-23 11:55:00.081] [info] Received new action goal ×2 + 13.44sINFOros2_control_node[2026-10-23 11:55:00.081] [info] Accepted new action goal ×2 + 14.19sINFOobjective_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 + 14.19sINFOros2_control_node[2026-10-23 11:55:00.836] [info] Got request to cancel active goal. ×2 + 14.19sINFOros2_control_node[2026-10-23 11:55:00.836] [info] Canceling active goal... ×2 + 14.21sERRORobjective_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: 1792756500.85267925 seconds ×3 + 14.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.79sINFOobjective_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: "" + 14.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792756501.53976297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 15.13sINFOros2_control_node[2026-10-23 11:55:01.773] [info] Received new action goal ×2 + 15.13sINFOros2_control_node[2026-10-23 11:55:01.774] [info] Accepted new action goal ×2 + 17.39sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 17.39sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.40sINFOros2_control_node[2026-10-23 11:55:04.044] [info] Received new action goal ×2 + 17.40sINFOros2_control_node[2026-10-23 11:55:04.044] [info] Accepted new action goal ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	6 errors · 3 warnings · 145 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.04sINFOobjective_server_nodecaller: ×4 + 3.04sINFOobjective_server_nodetype: 0 ×4 + 3.04sINFOobjective_server_nodename: "" ×4 + 3.04sINFOobjective_server_nodeinstance_id: "" ×4 + 3.04sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 13.45sERRORobjective_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: 1792756735.72975302 seconds ×3 + 14.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.01sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.08sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792756736.36354208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 14.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.42sINFOros2_control_node[2026-10-23 11:58:56.698] [info] Received new action goal ×2 + 14.42sINFOros2_control_node[2026-10-23 11:58:56.698] [info] Accepted new action goal ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	9 errors · 17 warnings · 196 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865150 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865150 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.68sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.69sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.99sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 7.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.14sINFOobjective_server_nodeFound path in 5 iterations (0.00805427 s). ×2 + 7.25sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 7.29sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 7.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306263 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306263 ms (missed cycles : 4).[0m ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.89sINFOros2_control_node[2026-10-23 11:55:40.240] [info] Received new action goal ×2 + 7.89sINFOros2_control_node[2026-10-23 11:55:40.240] [info] Accepted new action goal ×2 + 10.16sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.42sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.42sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.43sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1792756542.80560040 seconds ×3 + 10.46sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 13.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.05sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792756546.39632440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.23sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 14.24sINFOros2_control_node[2026-10-23 11:55:46.590] [info] Received new action goal ×2 + 14.24sINFOros2_control_node[2026-10-23 11:55:46.590] [info] Accepted new action goal ×2 + 14.29sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020408 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020408 ms (missed cycles : 2).[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	10.9s	3 errors · 128 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792756746.30116534 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792756746.92212725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.76sINFOros2_control_node[2026-10-23 11:59:07.057] [info] Received new action goal ×2 + 0.76sINFOros2_control_node[2026-10-23 11:59:07.057] [info] Accepted new action goal ×2 + 2.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 10.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756757.23243666 seconds ×3 + 11.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.48sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.56sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792756757.85617352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.60sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 12.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.61sINFOros2_control_node[2026-10-23 11:59:18.910] [info] Received new action goal ×2 + 12.61sINFOros2_control_node[2026-10-23 11:59:18.910] [info] Accepted new action goal ×2
✓ passed	3 Waypoints Pick and Place with AprilTags	3_waypoint_pick_and_place_apriltags.xml	10.9s	6 errors · 20 warnings · 204 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.12sINFOros2_control_node[2026-10-23 11:55:00.081] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-23 11:55:00.081] [info] Accepted new action goal ×2 + 0.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.88sINFOros2_control_node[2026-10-23 11:55:00.836] [info] Got request to cancel active goal. ×2 + 0.88sINFOros2_control_node[2026-10-23 11:55:00.836] [info] Canceling active goal... ×2 + 0.89sERRORobjective_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: 1792756500.85267925 seconds ×3 + 0.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place with AprilTags" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.48sINFOobjective_server_nodecaller: ×6 + 1.48sINFOobjective_server_nodetype: 0 ×6 + 1.48sINFOobjective_server_nodename: "" ×6 + 1.48sINFOobjective_server_nodeinstance_id: "" ×6 + 1.48sINFOobjective_server_node ×6 + 1.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792756501.53976297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.82sINFOros2_control_node[2026-10-23 11:55:01.773] [info] Received new action goal ×2 + 1.82sINFOros2_control_node[2026-10-23 11:55:01.774] [info] Accepted new action goal ×2 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.09sINFOros2_control_node[2026-10-23 11:55:04.044] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-23 11:55:04.044] [info] Accepted new action goal ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487553 ms (missed cycles : 4). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487553 ms (missed cycles : 4).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487786 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487786 ms (missed cycles : 3).[0m ×2 + 8.23sWARNros2_control_nodeCamera render tick took 1.49 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 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5).[0m ×2 + 11.77sERRORobjective_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: 1792756511.73054600 seconds ×3 + 12.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792756512.34274197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2).[0m ×2 + 12.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792756512.46290421 seconds ×3 + 13.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792756513.11872339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.34sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.36sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Received new action goal ×2 + 13.36sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Accepted new action goal ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	10.8s	3 errors · 14 warnings · 410 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.62sINFOobjective_server_nodecaller: ×14 + 0.62sINFOobjective_server_nodetype: 0 ×14 + 0.62sINFOobjective_server_nodename: "" ×14 + 0.62sINFOobjective_server_nodeinstance_id: "" ×14 + 0.62sINFOobjective_server_node ×14 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2 + 5.71sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.71sINFOros2_control_node[2026-10-23 11:59:58.028] [info] Received new action goal ×2 + 5.71sINFOros2_control_node[2026-10-23 11:59:58.028] [info] Accepted new action goal ×2 + 5.71sINFOros2_control_node[2026-10-23 11:59:58.028] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 12.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.42sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Got request to cancel active goal. ×2 + 12.42sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Canceling active goal... ×2 + 12.42sERRORobjective_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: 1792756804.73900032 seconds ×3 + 12.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.97sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756805.34395242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2).[0m ×2 + 14.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756806.43412280 seconds ×3 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4).[0m ×2 + 14.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.67sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.73sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792756807.05018306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.73sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 14.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792756807.05250168 seconds ×3 + 14.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 15.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.28sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.34sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792756807.65604949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792756807.69705939 seconds ×3 + 15.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.92sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 15.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756808.30746531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	10.8s	3 errors · 29 warnings · 2502 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×383 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×383 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×766 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×766 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792756713.89549112 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792756714.64250374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 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 ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789756 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789756 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852433 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852433 ms (missed cycles : 2).[0m ×2 + 8.52sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 8.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 9.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.04sINFOobjective_server_nodeFound path in 1 iterations (0.00496592 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.26sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.28sINFOros2_control_node[2026-10-23 11:58:39.980] [info] Received new action goal ×2 + 9.28sINFOros2_control_node[2026-10-23 11:58:39.980] [info] Accepted new action goal ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517493 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517493 ms (missed cycles : 2).[0m ×2 + 11.58sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 11.58sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 13.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.22sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 13.22sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 14.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.03sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 14.03sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 14.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 14.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 14.90sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 15.94sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.6s	3 errors · 129 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_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: 1792756735.72975302 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.57sINFOobjective_server_nodename: "" ×4 + 0.57sINFOobjective_server_nodeinstance_id: "" ×4 + 0.57sINFOobjective_server_node ×4 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792756736.36354208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.97sINFOros2_control_node[2026-10-23 11:58:56.698] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-10-23 11:58:56.698] [info] Accepted new action goal ×2 + 4.99sINFOros2_control_node[2026-10-23 11:59:00.716] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-10-23 11:59:00.716] [info] Accepted new action goal ×2 + 10.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792756746.30116534 seconds ×3 + 11.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.11sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.19sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792756746.92212725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.33sINFOros2_control_node[2026-10-23 11:59:07.057] [info] Received new action goal ×2 + 11.33sINFOros2_control_node[2026-10-23 11:59:07.057] [info] Accepted new action goal ×2 + 13.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	10.4s	3 errors · 23 warnings · 268 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1792756511.73054600 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.97sINFOobjective_server_nodecaller: ×8 + 2.97sINFOobjective_server_nodetype: 0 ×8 + 2.97sINFOobjective_server_nodename: "" ×8 + 2.97sINFOobjective_server_nodeinstance_id: "" ×8 + 2.97sINFOobjective_server_node ×8 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792756512.34274197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792756512.46290421 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792756513.11872339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871844 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871844 ms (missed cycles : 2).[0m ×2 + 7.69sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.69sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 1 iterations (0.00474392 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.37sINFOros2_control_node[2026-10-23 11:55:17.676] [info] Received new action goal ×2 + 8.37sINFOros2_control_node[2026-10-23 11:55:17.676] [info] Accepted new action goal ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295000 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295000 ms (missed cycles : 3).[0m ×2 + 8.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 10.67sINFOros2_control_node[2026-10-23 11:55:19.979] [info] Received new action goal ×2 + 10.67sINFOros2_control_node[2026-10-23 11:55:19.979] [info] Accepted new action goal ×2 + 12.29sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.30sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Received new action goal ×2 + 12.30sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Accepted new action goal ×2 + 13.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792756522.90765572 seconds ×3 + 14.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.14sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792756523.53010535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.30sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792756523.61027956 seconds ×3 + 14.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.89sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.97sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792756524.27743936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.10sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Accepted new action goal ×2
✓ passed	Look at Table	look_at_table.xml	3.9s	3 warnings · 208 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792756588.31940603 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792756588.92715406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792899 ms (missed cycles : 3). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792899 ms (missed cycles : 3).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792756588.99733114 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.62sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 3.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3 + 5.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.17sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792756593.57008290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 5.34sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 5.61sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 5.62sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.66sINFOros2_control_node[2026-10-23 11:56:33.977] [info] Received new action goal ×2 + 5.66sINFOros2_control_node[2026-10-23 11:56:33.978] [info] Accepted new action goal ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.7s	3 errors · 17 warnings · 213 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756804.73900032 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756805.34395242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756806.43412280 seconds ×3 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792756807.05018306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.32sINFOobjective_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 + 2.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792756807.05250168 seconds ×3 + 2.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792756807.65604949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792756807.69705939 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756808.30746531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139852 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139852 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792756809.42765307 seconds ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.713429 ms (missed cycles : 8). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.713429 ms (missed cycles : 8).[0m ×2 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Close Gripper	close_gripper.xml	1.5s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 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: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 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 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 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: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 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: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.9s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 15 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1792756511.73054600 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792756512.34274197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792756512.46290421 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792756513.11872339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	125 info
+ 0.00sINFOros2_control_node[2026-10-23 11:55:19.979] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:55:19.979] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Accepted new action goal ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792756522.90765572 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792756523.53010535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792756523.61027956 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792756524.27743936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.42sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Accepted new action goal ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 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: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 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 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 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: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 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: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	3 warnings · 138 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792756588.31940603 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792756588.92715406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792899 ms (missed cycles : 3). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792899 ms (missed cycles : 3).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792756588.99733114 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.62sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 3.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	3 errors · 17 warnings · 213 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756804.73900032 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756805.34395242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756806.43412280 seconds ×3 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792756807.05018306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.32sINFOobjective_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 + 2.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792756807.05250168 seconds ×3 + 2.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792756807.65604949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792756807.69705939 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756808.30746531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139852 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139852 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792756809.42765307 seconds ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.713429 ms (missed cycles : 8). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.713429 ms (missed cycles : 8).[0m ×2 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 17 warnings · 213 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756804.73900032 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756805.34395242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756806.43412280 seconds ×3 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792756807.05018306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.32sINFOobjective_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 + 2.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792756807.05250168 seconds ×3 + 2.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792756807.65604949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792756807.69705939 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756808.30746531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139852 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139852 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792756809.42765307 seconds ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.713429 ms (missed cycles : 8). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.713429 ms (missed cycles : 8).[0m ×2 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	0.0s	15 warnings · 2386 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×383 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×383 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×766 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×766 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792756713.89549112 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792756714.64250374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2).[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 12 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1792756511.73054600 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792756512.34274197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792756512.46290421 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792756513.11872339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Accepted new action goal ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 12 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1792756511.73054600 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792756512.34274197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792756512.46290421 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792756513.11872339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Accepted new action goal ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 15 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1792756511.73054600 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792756512.34274197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792756512.46290421 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792756513.11872339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 15 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1792756511.73054600 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792756512.34274197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792756512.46290421 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792756513.11872339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4).[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 15 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1792756511.73054600 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792756512.34274197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792756512.46290421 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792756513.11872339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4).[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 15 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837712 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271073 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697944 ms (missed cycles : 5).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1792756511.73054600 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792756512.34274197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967526 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792756512.46290421 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792756513.11872339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-23 11:55:13.313] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892624 ms (missed cycles : 4).[0m ×2
− skipped	Collect Training Data with Behaviors	collect_training_data_with_behaviors.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792756522.90765572 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792756523.53010535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792756523.61027956 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792756524.27743936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Accepted new action goal ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792756522.90765572 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792756523.53010535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792756523.61027956 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792756524.27743936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Accepted new action goal ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792756522.90765572 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792756523.53010535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792756523.61027956 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792756524.27743936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Accepted new action goal ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792756522.90765572 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792756523.53010535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792756523.61027956 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792756524.27743936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Accepted new action goal ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-10-23 11:55:21.611] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792756522.90765572 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792756523.53010535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792756523.61027956 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792756524.27743936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-23 11:55:24.402] [info] Accepted new action goal ×2
− skipped	Detect AprilTags on Table	detect_apriltags_on_table.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Get Fresh Point Cloud	get_fresh_point_cloud.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 3 warnings · 82 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-23 11:55:32.449] [info] Accepted new action goal ×2 + 2.38sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 2.44sERRORobjective_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: 1792756534.78604460 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792756535.41357398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-10-23 11:55:35.607] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820628 ms (missed cycles : 2).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 100 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00347356 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOros2_control_node[2026-10-23 11:55:54.263] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-10-23 11:55:54.263] [info] Accepted new action goal ×2 + 0.83sINFOros2_control_node[2026-10-23 11:55:54.695] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-23 11:55:54.695] [info] Accepted new action goal ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sINFOobjective_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 + 2.97sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.97sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.99sERRORobjective_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: 1792756556.86006761 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Live Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792756557.67549610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-10-23 11:55:58.699] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-10-23 11:55:58.699] [info] Accepted new action goal ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	3 warnings · 138 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792756588.31940603 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792756588.92715406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792899 ms (missed cycles : 3). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792899 ms (missed cycles : 3).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792756588.99733114 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.62sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 3.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792756593.57008290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.977] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.978] [info] Accepted new action goal ×2
− skipped	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792756593.57008290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.977] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.978] [info] Accepted new action goal ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792756593.57008290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.977] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.978] [info] Accepted new action goal ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792756593.57008290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.977] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.978] [info] Accepted new action goal ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792756593.57008290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.977] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.978] [info] Accepted new action goal ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792756593.57008290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.977] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.978] [info] Accepted new action goal ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792756589.80237889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-23 11:56:29.936] [info] Accepted new action goal ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792756591.94256711 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792756593.57008290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.977] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-23 11:56:33.978] [info] Accepted new action goal ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	6 warnings · 84 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792756647.26721454 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.55sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.55sINFOobjective_server_nodecaller: ×2 + 0.55sINFOobjective_server_nodetype: 0 ×2 + 0.55sINFOobjective_server_nodename: "" ×2 + 0.55sINFOobjective_server_nodeinstance_id: "" ×2 + 0.55sINFOobjective_server_node ×2 + 0.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792756647.88608503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.79sINFOros2_control_node[2026-10-23 11:57:28.061] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-10-23 11:57:28.061] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695642 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695642 ms (missed cycles : 2).[0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816823 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816823 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	15 warnings · 2386 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×383 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×383 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×766 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×766 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792756713.89549112 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792756714.64250374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	15 warnings · 2386 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×383 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×383 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×766 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×766 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792756713.89549112 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792756714.64250374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	15 warnings · 2386 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×383 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×383 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×766 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×766 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792756713.89549112 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792756714.64250374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	15 warnings · 2386 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×383 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×383 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×766 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×766 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009021 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169328 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720029 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792756713.89549112 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817465 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792756714.64250374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-10-23 11:58:34.847] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978847 ms (missed cycles : 2).[0m ×2
− skipped	Pick from AprilTag Detections	pick_from_apriltag_detections.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place Object	place_object.xml	0.0s	3 errors · 3 warnings · 84 info
+ 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-23 11:58:42.282] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-23 11:58:43.927] [info] Accepted new action goal ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-23 11:58:44.732] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756724.74805021 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792756725.41921043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767784 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-10-23 11:58:45.603] [info] Accepted new action goal ×2 + 4.36sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 61 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_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: 1792756735.72975302 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.57sINFOobjective_server_nodecaller: ×2 + 0.57sINFOobjective_server_nodetype: 0 ×2 + 0.57sINFOobjective_server_nodename: "" ×2 + 0.57sINFOobjective_server_nodeinstance_id: "" ×2 + 0.57sINFOobjective_server_node ×2 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792756736.36354208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.97sINFOros2_control_node[2026-10-23 11:58:56.698] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-10-23 11:58:56.698] [info] Accepted new action goal ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	64 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792756746.30116534 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792756746.92212725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.76sINFOros2_control_node[2026-10-23 11:59:07.057] [info] Received new action goal ×2 + 0.76sINFOros2_control_node[2026-10-23 11:59:07.057] [info] Accepted new action goal ×2 + 2.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 64 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756757.23243666 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.55sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.55sINFOobjective_server_nodecaller: ×2 + 0.55sINFOobjective_server_nodetype: 0 ×2 + 0.55sINFOobjective_server_nodename: "" ×2 + 0.55sINFOobjective_server_nodeinstance_id: "" ×2 + 0.55sINFOobjective_server_node ×2 + 0.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792756757.85617352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.67sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 1.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.68sINFOros2_control_node[2026-10-23 11:59:18.910] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-10-23 11:59:18.910] [info] Accepted new action goal ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
− skipped	Select Region and Record Coverage	select_region_and_record_coverage.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
− skipped	Select Region for Coverage Path	select_region_for_coverage_path.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792756792.31694245 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792756793.15274048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805421 ms (missed cycles : 3).[0m ×2 + 0.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792756793.29292178 seconds ×3 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792756793.89317489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792756793.91541815 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792756794.60363102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-10-23 11:59:54.718] [info] Accepted new action goal ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 11 warnings · 210 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756804.73900032 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756805.34395242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756806.43412280 seconds ×3 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792756807.05018306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.32sINFOobjective_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 + 2.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792756807.05250168 seconds ×3 + 2.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792756807.65604949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792756807.69705939 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756808.30746531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 11 warnings · 210 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-23 12:00:04.733] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792756804.73900032 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756805.34395242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225301 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756806.43412280 seconds ×3 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314378 ms (missed cycles : 4).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792756807.05018306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.32sINFOobjective_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 + 2.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792756807.05250168 seconds ×3 + 2.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792756807.65604949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792756807.69705939 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756808.30746531 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/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_image_from_point_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass8 skip

✓ passed	—	clear_snapshot.xml	13.3s	26 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/2026-10-23-11-54-32-096590-0c909af7e674-8310 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.70sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.71sINFOcontroller_managerupdate rate is 600 Hz + 0.71sINFOcontroller_managerOverruns handling is : enabled + 0.71sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.71sWARNcontroller_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. + 0.84sINFOros2_control_node-1process started with pid [8358] ×2 + 0.84sINFOmove_group-9process started with pid [8377] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [8378] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [8379] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [8380] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [8381] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [8382] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [8383] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [8384] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [8385] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [8386] ×2 + 0.85sINFOweb_bridge-19process started with pid [8387] ×2 + 0.85sINFOtf_visualization_relay-20process started with pid [8472] ×2 + 0.85sINFOjoint_state_visualization_relay-21process started with pid [8473] ×2 + 0.85sINFOtf2_web_republisher_node-22process started with pid [8474] ×2 + 0.85sINFOvideo_server-23process started with pid [8477] ×2 + 0.85sINFOweb_bridge_auth_proxy-24process started with pid [8478] ×2 + 0.85sINFOweb_video_auth_proxy-25process started with pid [8488] ×2 + 0.85sINFOros2-2process started with pid [8359] ×2 + 0.85sINFOros2-3process started with pid [8360] ×2 + 0.85sINFOros2-4process started with pid [8361] ×2 + 0.85sINFOros2-5process started with pid [8362] ×2 + 0.85sINFOros2-6process started with pid [8363] ×2 + 0.85sINFOros2-7process started with pid [8364] ×2 + 0.85sINFOros2-8process started with pid [8365] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306177 ms (missed cycles : 3). + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306177 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.94sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOvideo_server2026/10/23 11:54:33 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/10/23 11:54:33 INF configuration loaded from /tmp/moveit-webrtc-zz895j91/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/10/23 11:54:33 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/10/23 11:54:33 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.48sINFOweb_bridge_auth_proxy2026-10-23 11:54:33,923 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.48sINFOweb_bridge_auth_proxy2026-10-23 11:54:33,927 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.48sINFOweb_video_auth_proxy2026-10-23 11:54:33,931 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.79sINFOmove_group[2026-10-23 11:54:34.232] [moveit_pro_license] [info] ×2 + 1.79sINFOmove_group************************************************* ×4 + 1.79sINFOmove_group* MoveIt Pro License ×2 + 1.79sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.19sINFOmove_group ×4 + 2.19sINFOmove_group[92mYou can start planning now![0m ×2 + 2.19sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.19sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.20sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.20sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.21sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.21sINFOros2_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 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271106 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271106 ms (missed cycles : 2).[0m ×2 + 2.31sINFOwaypoint_manager_node[2026-10-23 11:54:34.762] [moveit_pro_license] [info] ×2 + 2.31sINFOwaypoint_manager_node************************************************* ×4 + 2.31sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.31sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.41sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.12sINFOobjective_server_node[2026-10-23 11:54:36.564] [moveit_pro_license] [info] ×2 + 4.12sINFOobjective_server_node************************************************* ×4 + 4.12sINFOobjective_server_node* MoveIt Pro License ×2 + 4.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.16sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.17sINFOros2_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 + 4.17sWARNros2_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 + 4.17sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.17sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.17sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.17sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.17sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.17sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.17sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.17sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.17sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.17sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.17sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.17sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.17sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.17sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.17sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.17sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.17sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.17sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.17sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.17sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.17sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.24sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.24sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.24sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.24sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.26sINFOobjective_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 + 4.26sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.28sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.28sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.28sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.28sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.28sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.28sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.28sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.28sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 + 4.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 [0m ×2 + 4.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.39sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.39sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.39sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.41sINFOros2_control_node[2026-10-23 11:54:36.857] [info] Controller state will be published at 20 Hz. ×2 + 4.41sINFOros2_control_node[2026-10-23 11:54:36.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.43sINFOcomponent_container_mt[2026-10-23 11:54:36.879] [moveit_pro_license] [info] ×2 + 4.43sINFOcomponent_container_mt************************************************* ×4 + 4.43sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.43sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976001 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976001 ms (missed cycles : 2).[0m ×2 + 4.66sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.66sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.67sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.67sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.67sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.67sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.71sINFOros2-8process has finished cleanly [pid 8365] ×2 + 4.75sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 + 4.75sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 [0m ×2 + 4.79sINFOros2_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 + 4.79sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.80sWARNros2_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 + 4.80sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.80sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.80sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.80sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.83sINFOros2_control_node[2026-10-23 11:54:37.278] [info] Controller state will be published at 10 Hz. ×2 + 4.83sINFOros2_control_node[2026-10-23 11:54:37.280] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.12sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.12sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.12sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.16sINFOros2-7process has finished cleanly [pid 8364] ×2 + 5.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 + 5.20sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 [0m ×2 + 5.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.24sINFOros2_control_node[2026-10-23 11:54:37.690] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.24sINFOros2_control_node[2026-10-23 11:54:37.690] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.27sINFOros2_control_node[2026-10-23 11:54:37.714] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.27sINFOros2_control_node[2026-10-23 11:54:37.714] [info] Controller state will be published at 50 Hz. ×2 + 5.28sINFOros2_control_node[2026-10-23 11:54:37.724] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.58sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.58sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.58sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.58sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.59sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 + 5.59sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 [0m ×2 + 5.60sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.60sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813585 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813585 ms (missed cycles : 2).[0m ×2 + 5.63sINFOros2-6process has finished cleanly [pid 8363] ×2 + 5.63sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.63sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.63sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.63sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.63sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.63sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.64sINFOcontroller_managerSuccessfully switched controllers! ×16 + 5.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 5.65sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.65sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.94sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.94sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.94sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.94sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.95sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 + 5.95sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 [0m ×2 + 5.97sINFOros2-3process has finished cleanly [pid 8360] ×2 + 5.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.99sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.99sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.99sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.00sINFOforce_torque_sensor_broadcasterconfigure successful + 6.00sINFOros2_control_nodeconfigure successful[0m ×2 + 6.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.30sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.30sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.30sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.30sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.30sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 + 6.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 [0m ×2 + 6.33sINFOros2-2process has finished cleanly [pid 8359] ×2 + 6.35sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.35sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.37sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.66sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 + 6.66sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2oq05d8x --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_bga7qmlg --params-file /tmp/launch_params_8b4nojc7 [0m ×2 + 6.71sINFOros2-4process has finished cleanly [pid 8361] ×2 + 6.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.73sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.73sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.74sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.04sINFOros2-5process has finished cleanly [pid 8362] ×2 + 8.74sWARNobjective_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 + 12.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 12.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 12.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 12.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 12.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 12.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 12.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 12.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 12.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 12.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 12.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 12.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 12.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 12.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 12.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 12.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 12.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 12.88sINFOobjective_server_nodecaller: ×10 + 12.88sINFOobjective_server_nodetype: 0 ×10 + 12.88sINFOobjective_server_nodename: "" ×10 + 12.88sINFOobjective_server_nodeinstance_id: "" ×10 + 12.88sINFOobjective_server_node ×10 + 12.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 13.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.49sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 13.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 13.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 14.19sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 15.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.03sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 15.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 15.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 15.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 16.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 16.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	3 warnings · 389 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_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: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.23sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 7.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
✓ passed	—	reset_planning_scene.xml	0.7s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 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: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 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 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 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: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 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: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2
− skipped	—	addtovector.xml	0.0s	9 warnings · 159 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-23-11-54-32-096590-0c909af7e674-8310 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.70sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.71sINFOcontroller_managerupdate rate is 600 Hz + 0.71sINFOcontroller_managerOverruns handling is : enabled + 0.71sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.71sWARNcontroller_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. + 0.84sINFOros2_control_node-1process started with pid [8358] ×2 + 0.84sINFOmove_group-9process started with pid [8377] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [8378] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [8379] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [8380] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [8381] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [8382] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [8383] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [8384] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [8385] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [8386] ×2 + 0.85sINFOweb_bridge-19process started with pid [8387] ×2 + 0.85sINFOtf_visualization_relay-20process started with pid [8472] ×2 + 0.85sINFOjoint_state_visualization_relay-21process started with pid [8473] ×2 + 0.85sINFOtf2_web_republisher_node-22process started with pid [8474] ×2 + 0.85sINFOvideo_server-23process started with pid [8477] ×2 + 0.85sINFOweb_bridge_auth_proxy-24process started with pid [8478] ×2 + 0.85sINFOweb_video_auth_proxy-25process started with pid [8488] ×2 + 0.85sINFOros2-2process started with pid [8359] ×2 + 0.85sINFOros2-3process started with pid [8360] ×2 + 0.85sINFOros2-4process started with pid [8361] ×2 + 0.85sINFOros2-5process started with pid [8362] ×2 + 0.85sINFOros2-6process started with pid [8363] ×2 + 0.85sINFOros2-7process started with pid [8364] ×2 + 0.85sINFOros2-8process started with pid [8365] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306177 ms (missed cycles : 3). + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306177 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.94sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOvideo_server2026/10/23 11:54:33 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/10/23 11:54:33 INF configuration loaded from /tmp/moveit-webrtc-zz895j91/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/10/23 11:54:33 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/10/23 11:54:33 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.48sINFOweb_bridge_auth_proxy2026-10-23 11:54:33,923 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.48sINFOweb_bridge_auth_proxy2026-10-23 11:54:33,927 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.48sINFOweb_video_auth_proxy2026-10-23 11:54:33,931 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.79sINFOmove_group[2026-10-23 11:54:34.232] [moveit_pro_license] [info] ×2 + 1.79sINFOmove_group************************************************* ×4 + 1.79sINFOmove_group* MoveIt Pro License ×2 + 1.79sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.19sINFOmove_group ×4 + 2.19sINFOmove_group[92mYou can start planning now![0m ×2 + 2.19sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.19sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.20sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.20sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.21sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.21sINFOros2_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 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271106 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271106 ms (missed cycles : 2).[0m ×2 + 2.31sINFOwaypoint_manager_node[2026-10-23 11:54:34.762] [moveit_pro_license] [info] ×2 + 2.31sINFOwaypoint_manager_node************************************************* ×4 + 2.31sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.31sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.41sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 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: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 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 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 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: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 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: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2
− skipped	—	createvector.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 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: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 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 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 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: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 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: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 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: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 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 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 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: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 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: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2
− skipped	—	request_teleoperation.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 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: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 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 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 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: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 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: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2
− skipped	—	teleoperate.xml	0.0s	3 warnings · 383 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756485.39275432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756485.40298557 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_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: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.23sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	interpolate_to_joint_state.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_cartesian_pose.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_joint_state.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_named_waypoint.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_pose.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_pose_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_waypoint.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_waypoint_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	plan_path_with_mtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	record_teleop_trajectory.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	track_moving_frame.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	3 warnings · 328 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 7.07sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.08sINFOros2_control_node[2026-10-23 11:54:53.081] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-10-23 11:54:53.081] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

9 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	calibrate_multiple_cameras.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	capture_calibration_sample.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	capture_camera_point_cloud.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	collect_calibration_samples.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	generate_calibration_waypoints.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	interactive_marker_visualization_example.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	visualize_tf.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756486.00060248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756486.91074705 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756487.53299642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756487.59318042 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756488.25406551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756488.26420736 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756488.85914063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756489.00974274 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756489.72543836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591589 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756489.77559328 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792756490.42589402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.1404e-05 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-10-23 11:54:50.562] [info] Accepted new action goal ×2 + 6.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3