136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
9.6s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass60 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.5s | 3 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793237651.55614853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Accepted new action goal ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×4 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Accepted new action goal ×2 + 10.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.05sINFOros2_control_node[2026-10-29 01:34:17.899] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-10-29 01:34:17.899] [info] Accepted new action goal ×2 + 13.01sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 13.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.04sINFOros2_control_node[2026-10-29 01:34:20.892] [info] Received new action goal ×2 + 13.04sINFOros2_control_node[2026-10-29 01:34:20.892] [info] Accepted new action goal ×2 + 16.00sINFOobjective_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 + 16.00sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.00sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.00sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.00sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 20.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.55sINFOobjective_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 + 23.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.55sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.55sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.55sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.55sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.41sINFOros2_control_node[2026-10-29 01:34:32.253] [info] Received new action goal ×2 + 24.41sINFOros2_control_node[2026-10-29 01:34:32.253] [info] Accepted new action goal ×2 + 25.59sINFOobjective_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 + 25.60sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.90sINFOros2_control_node[2026-10-29 01:34:33.746] [info] Received new action goal ×2 + 25.90sINFOros2_control_node[2026-10-29 01:34:33.746] [info] Accepted new action goal ×2 + 28.15sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 28.15sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.16sINFOros2_control_node[2026-10-29 01:34:36.004] [info] Received new action goal ×2 + 28.16sINFOros2_control_node[2026-10-29 01:34:36.004] [info] Accepted new action goal ×2 + 31.18sINFOros2_control_node[2026-10-29 01:34:39.023] [info] Received new action goal ×2 + 31.18sINFOros2_control_node[2026-10-29 01:34:39.023] [info] Accepted new action goal ×2 + 33.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.80sINFOros2_control_node[2026-10-29 01:34:41.646] [info] Received new action goal ×2 + 33.80sINFOros2_control_node[2026-10-29 01:34:41.646] [info] Accepted new action goal ×2 + 44.48sINFOros2_control_node[2026-10-29 01:34:52.326] [info] Received new action goal ×2 + 44.48sINFOros2_control_node[2026-10-29 01:34:52.326] [info] Accepted new action goal ×2 + 45.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793237693.48218369 seconds ×3 + 46.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.20sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184734 ms (missed cycles : 2). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184734 ms (missed cycles : 2).[0m ×2 + 46.40sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793237694.24431014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.39sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 47.40sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.41sINFOros2_control_node[2026-10-29 01:34:55.259] [info] Received new action goal ×2 + 47.41sINFOros2_control_node[2026-10-29 01:34:55.259] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 33.4s | 17 warnings · 310 info |
+ 0.00sINFOros2_control_node[2026-10-29 01:36:48.286] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-29 01:36:48.286] [info] Accepted new action goal ×2 + 2.07sINFOros2_control_node[2026-10-29 01:36:50.357] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-10-29 01:36:50.357] [info] Accepted new action goal ×2 + 2.85sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 2.85sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793237811.13426614 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.38sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.38sINFOobjective_server_nodecaller: ×8 + 3.38sINFOobjective_server_nodetype: 0 ×8 + 3.38sINFOobjective_server_nodename: "" ×8 + 3.38sINFOobjective_server_nodeinstance_id: "" ×8 + 3.38sINFOobjective_server_node ×8 + 3.48sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793237811.76931310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.50sINFOros2_control_node[2026-10-29 01:36:52.783] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-10-29 01:36:52.783] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713411 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713411 ms (missed cycles : 2).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981823 ms (missed cycles : 3). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981823 ms (missed cycles : 3).[0m ×2 + 8.68sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 9.02sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.03sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.06sINFOros2_control_node[2026-10-29 01:36:57.350] [info] Received new action goal ×2 + 9.06sINFOros2_control_node[2026-10-29 01:36:57.350] [info] Accepted new action goal ×2 + 18.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 18.76sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 18.77sINFOros2_control_node[2026-10-29 01:37:07.056] [info] Received new action goal ×2 + 18.77sINFOros2_control_node[2026-10-29 01:37:07.056] [info] Accepted new action goal ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039958 ms (missed cycles : 4). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039958 ms (missed cycles : 4).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684818 ms (missed cycles : 2). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684818 ms (missed cycles : 2).[0m ×2 + 23.00sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 23.01sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 23.05sINFOros2_control_node[2026-10-29 01:37:11.334] [info] Received new action goal ×2 + 23.05sINFOros2_control_node[2026-10-29 01:37:11.334] [info] Accepted new action goal ×2 + 32.40sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 32.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 32.41sINFOros2_control_node[2026-10-29 01:37:20.700] [info] Received new action goal ×2 + 32.41sINFOros2_control_node[2026-10-29 01:37:20.700] [info] Accepted new action goal ×2 + 36.20sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 36.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 36.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 37.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 37.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 37.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 37.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 37.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 37.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 37.62sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 37.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.69sINFOobjective_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 + 37.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 38.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.34sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 38.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.47sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 38.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 38.48sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 38.48sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 39.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 32.4s | 18 warnings · 29122 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793237704.99635291 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793237705.61807323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.72sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.73sINFOros2_control_node[2026-10-29 01:35:05.721] [info] Received new action goal ×2 + 0.73sINFOros2_control_node[2026-10-29 01:35:05.721] [info] Accepted new action goal ×2 + 1.99sINFOobjective_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 + 2.00sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.07sINFOobjective_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 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.56sINFOjoint_trajectory_controllerReceived new action goal ×4812 + 2.56sINFOjoint_trajectory_controllerAccepted new action goal ×4812 + 2.56sINFOros2_control_nodeReceived new action goal[0m ×9624 + 2.56sINFOros2_control_nodeAccepted new action goal[0m ×9624 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732116 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732116 ms (missed cycles : 2).[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706897 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706897 ms (missed cycles : 2).[0m ×2 + 8.07sINFOjoint_trajectory_controllerGot request to cancel goal ×10 + 8.07sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×5 + 8.07sINFOros2_control_nodeGot request to cancel goal[0m ×20 + 8.07sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×10 + 8.09sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138076 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138076 ms (missed cycles : 2).[0m ×2 + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420974 ms (missed cycles : 2). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420974 ms (missed cycles : 2).[0m ×2 + 23.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074649 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074649 ms (missed cycles : 2).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327496 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327496 ms (missed cycles : 2).[0m ×2 + 32.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793237737.44247365 seconds ×3 + 32.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 32.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 32.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 32.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 32.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 32.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 32.99sINFOobjective_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: ""
+ 32.99sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 33.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793237738.06255460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 33.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 33.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 33.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 33.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 33.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 33.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 33.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.19sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 33.20sINFOros2_control_node[2026-10-29 01:35:38.196] [info] Received new action goal ×2 + 33.20sINFOros2_control_node[2026-10-29 01:35:38.196] [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 | 20.1s | 6 warnings · 20266 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×3345 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×3345 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×6690 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×6690 + 3.10sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.10sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.10sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793237737.44247365 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.65sINFOobjective_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: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793237738.06255460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_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 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.86sINFOros2_control_node[2026-10-29 01:35:38.196] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-10-29 01:35:38.196] [info] Accepted new action goal ×2 + 5.11sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.17sINFOobjective_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 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754532 ms (missed cycles : 2). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754532 ms (missed cycles : 2).[0m ×2 + 23.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793237757.52948332 seconds ×3 + 23.83sINFOobjective_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: ""
+ 23.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 23.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793237758.24475408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 23.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 24.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 24.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 24.09sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Received new action goal ×2 + 24.09sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Accepted new action goal ×2 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.0s | 3 errors · 9 warnings · 167 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-10-29 01:33:34.814] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-10-29 01:33:34.814] [info] Accepted new action goal ×2 + 1.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOros2_control_node[2026-10-29 01:33:35.740] [info] Got request to cancel active goal. ×2 + 1.90sINFOros2_control_node[2026-10-29 01:33:35.740] [info] Canceling active goal... ×2 + 1.91sERRORobjective_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: 1793237615.75476909 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.45sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.45sINFOobjective_server_nodecaller: ×4 + 2.45sINFOobjective_server_nodetype: 0 ×4 + 2.45sINFOobjective_server_nodename: "" ×4 + 2.45sINFOobjective_server_nodeinstance_id: "" ×4 + 2.45sINFOobjective_server_node ×4 + 2.55sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793237616.39285660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969272 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969272 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-10-29 01:33:37.397] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-10-29 01:33:37.397] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132798 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132798 ms (missed cycles : 4).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131573 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131573 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 7.45sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 7.48sINFOros2_control_node[2026-10-29 01:33:41.323] [info] Received new action goal ×2 + 7.48sINFOros2_control_node[2026-10-29 01:33:41.324] [info] Accepted new action goal ×2 + 16.89sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 16.98sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 16.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 17.00sINFOros2_control_node[2026-10-29 01:33:50.839] [info] Received new action goal ×2 + 17.00sINFOros2_control_node[2026-10-29 01:33:50.839] [info] Accepted new action goal ×2 + 20.91sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793237634.75552750 seconds ×3 + 21.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.45sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 21.56sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793237635.40468025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 21.72sINFOros2_control_node[2026-10-29 01:33:55.558] [info] Received new action goal ×2 + 21.72sINFOros2_control_node[2026-10-29 01:33:55.558] [info] Accepted new action goal ×2 + 24.02sINFOros2_control_node[2026-10-29 01:33:57.863] [info] Received new action goal ×2 + 24.02sINFOros2_control_node[2026-10-29 01:33:57.863] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 3 warnings · 203 info |
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793237634.75552750 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 + 0.53sINFOobjective_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 + 0.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793237635.40468025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.80sINFOros2_control_node[2026-10-29 01:33:55.558] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-10-29 01:33:55.558] [info] Accepted new action goal ×2 + 3.11sINFOros2_control_node[2026-10-29 01:33:57.863] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-10-29 01:33:57.863] [info] Accepted new action goal ×2 + 11.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793237646.41702151 seconds ×3 + 12.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.20sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793237647.00132251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 12.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 12.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918787 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918787 ms (missed cycles : 2).[0m ×2 + 12.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793237647.07147717 seconds ×3 + 13.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.05sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.18sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 13.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.19sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 13.19sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 15.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 6 warnings · 1558 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 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-10-29 01:34:52.326] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-10-29 01:34:52.326] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793237693.48218369 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184734 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184734 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793237694.24431014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.84sINFOros2_control_node[2026-10-29 01:34:55.259] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-29 01:34:55.259] [info] Accepted new action goal ×2 + 7.53sINFOobjective_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 + 7.53sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.53sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.53sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.53sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.96sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.97sINFOros2_control_node[2026-10-29 01:35:01.390] [info] Received new action goal ×2 + 9.97sINFOros2_control_node[2026-10-29 01:35:01.390] [info] Accepted new action goal ×2 + 13.57sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793237704.99635291 seconds ×3 + 14.11sINFOobjective_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: ""
+ 14.11sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793237705.61807323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 14.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.30sINFOros2_control_node[2026-10-29 01:35:05.721] [info] Received new action goal ×2 + 14.30sINFOros2_control_node[2026-10-29 01:35:05.721] [info] Accepted new action goal ×2 + 15.56sINFOobjective_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 + 15.57sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.13sINFOjoint_trajectory_controllerReceived new action goal ×223 + 16.13sINFOjoint_trajectory_controllerAccepted new action goal ×223 + 16.13sINFOros2_control_nodeReceived new action goal[0m ×446 + 16.13sINFOros2_control_nodeAccepted new action goal[0m ×446 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732116 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732116 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 77 errors · 17 warnings · 473 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[2026-10-29 01:37:36.744] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-29 01:37:36.744] [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: 1793237856.74840307 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237857.32940412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237858.23959970 seconds ×3 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793237858.82593155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.09sINFOobjective_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 + 2.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793237858.82757044 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793237859.40754008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793237859.45861459 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237860.15250206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237861.22266817 seconds ×3 + 4.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667080 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667080 ms (missed cycles : 3).[0m ×2 + 10.18sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.19sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.19sERRORweb_video_auth_proxy-25process has died [pid 8513, 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 + 10.20sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.20sERRORweb_bridge_auth_proxy-24process has died [pid 8512, 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 + 10.20sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.20sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.21sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.21sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.21sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.22sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.22sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.22sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.23sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.23sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.24sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.24sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.25sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.25sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.26sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.26sINFOcontroller_managerShutdown request received.... + 10.26sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.26sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.26sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.26sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.26sINFOvideo_server-23process has finished cleanly [pid 8511] ×2 + 10.26sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.26sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.26sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.26sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.26sINFOvideo_server2026/10/29 01:37:46 INF shutting down gracefully ×2 + 10.26sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.26sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.26sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.26sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.26sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.26sINFOvideo_server2026/10/29 01:37:46 INF [WebRTC] closing ×2 + 10.26sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.26sINFOvideo_server2026/10/29 01:37:46 INF [RTSP] closing ×2 + 10.26sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.26sINFOvideo_server2026/10/29 01:37:46 INF waiting for running hooks ×2 + 10.26sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.26sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.26sERRORmove_groupStack trace (most recent call last) in thread 8925: ×2 + 10.26sINFOcontroller_managerShutting down the controller manager. + 10.26sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.26sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.26sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.26sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.26sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.26sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.26sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.26sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.26sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.26sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.26sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.26sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.26sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.26sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.26sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.26sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.26sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa19aab2cc3, in __clone ×2 + 10.26sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.26sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa19aa25b83, in ×2 + 10.26sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa19acb8db3, in ×2 + 10.27sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fa19b420e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.27sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa19b04a620, in rclcpp::Rate::sleep() ×2 + 10.27sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa19af8cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.27sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa19af4e087, in ×2 + 10.27sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa19ac87390, in __cxa_throw ×2 + 10.27sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa19ac71a54, in std::terminate() ×2 + 10.27sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa19ac870d9, in ×2 + 10.27sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa19ac71ff4, in ×2 + 10.27sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa19a9b18fe, in abort ×2 + 10.27sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa19a9ce27d, in raise ×2 + 10.27sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa19aa27c0c, in pthread_kill ×2 + 10.27sERRORmove_groupAborted (Signal sent by tkill() 8427 0) ×2 + 10.28sERRORmove_group-9process has died [pid 8427, 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_pmi1p7hf --params-file /tmp/launch_params_087ax1co --params-file /tmp/launch_params_7m6sdk8t --params-file /tmp/launch_params_ekr2cdjm --params-file /tmp/launch_params_me0y5d0y --params-file /tmp/launch_params_2b0h51ul']. ×2 + 10.47sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.47sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.47sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.24sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.24sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.24sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.24sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOjoint_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 + 11.24sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.24sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.24sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.24sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.24sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.24sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.24sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.24sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.24sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.24sINFOjoint_state_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.24sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.24sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.24sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.24sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.24sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.24sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.24sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.24sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.24sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.24sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.24sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.24sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.24sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.24sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.24sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.24sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.25sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8510] ×2 + 11.25sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.28sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8431] ×2 + 11.29sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8430] ×2 + 11.29sERRORjoint_state_visualization_relay-21process has died [pid 8509, 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_c00mzg6t']. ×2 + 11.29sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.30sERRORtf_visualization_relay-20process has died [pid 8508, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_wn6fk1en']. ×2 + 11.30sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.33sINFOui_teleop_bridge-18process has finished cleanly [pid 8436] ×2 + 11.33sINFOwaypoint_manager_node-11process has finished cleanly [pid 8429] ×2 + 11.33sINFOparameter_manager_node-10process has finished cleanly [pid 8428] ×2 + 11.33sINFOexecute_objective_bridge-17process has finished cleanly [pid 8435] ×2 + 11.37sINFOcomponent_container_mt-16process has finished cleanly [pid 8434] ×2 + 11.40sINFOobjective_server_node[0;m[2026-10-29 01:37:48.135] [moveit_pro_license] [critical] ×2 + 11.40sINFOobjective_server_node************************************************* ×4 + 11.40sINFOobjective_server_node* MoveIt Pro License ×2 + 11.40sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.68sINFOobjective_server_node_main-14process has finished cleanly [pid 8432] ×2 + 11.68sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.41sINFOcomponent_container_mt-15process has finished cleanly [pid 8433] ×2 + 12.54sINFOweb_bridge-19process has finished cleanly [pid 8437] ×2 + 12.55sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.97sINFOros2_control_node-1process has finished cleanly [pid 8376] ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 3 errors · 127 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793237789.66807938 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793237790.26479793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.33sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.34sINFOros2_control_node[2026-10-29 01:36:30.368] [info] Received new action goal ×2 + 2.34sINFOros2_control_node[2026-10-29 01:36:30.368] [info] Accepted new action goal ×2 + 4.25sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 12.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.71sERRORobjective_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: 1793237800.73508930 seconds ×3 + 13.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.25sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 13.29sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793237801.31861353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.43sINFOros2_control_node[2026-10-29 01:36:41.453] [info] Received new action goal ×2 + 13.43sINFOros2_control_node[2026-10-29 01:36:41.453] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 3 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.69sINFOros2_control_node[2026-10-29 01:32:36.650] [info] Received new action goal ×2 + 9.69sINFOros2_control_node[2026-10-29 01:32:36.650] [info] Accepted new action goal ×2 + 12.98sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 12.98sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.00sINFOros2_control_node[2026-10-29 01:32:39.959] [info] Received new action goal ×2 + 13.00sINFOros2_control_node[2026-10-29 01:32:39.959] [info] Accepted new action goal ×2 + 13.88sINFOobjective_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 + 13.88sINFOros2_control_node[2026-10-29 01:32:40.836] [info] Got request to cancel active goal. ×2 + 13.88sINFOros2_control_node[2026-10-29 01:32:40.836] [info] Canceling active goal... ×2 + 13.90sERRORobjective_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: 1793237560.86149549 seconds ×3 + 13.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.44sINFOobjective_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: ""
+ 14.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793237561.47271180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 14.75sINFOros2_control_node[2026-10-29 01:32:41.706] [info] Received new action goal ×2 + 14.75sINFOros2_control_node[2026-10-29 01:32:41.706] [info] Accepted new action goal ×2 + 16.99sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 16.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.00sINFOros2_control_node[2026-10-29 01:32:43.956] [info] Received new action goal ×2 + 17.00sINFOros2_control_node[2026-10-29 01:32:43.956] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 3 errors · 12 warnings · 213 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.56sINFOobjective_server_nodecaller: ×4 + 0.56sINFOobjective_server_nodetype: 0 ×4 + 0.56sINFOobjective_server_nodename: "" ×4 + 0.56sINFOobjective_server_nodeinstance_id: "" ×4 + 0.56sINFOobjective_server_node ×4 + 0.63sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793237605.37023878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 0.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.82sINFOros2_control_node[2026-10-29 01:33:25.553] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-10-29 01:33:25.553] [info] Accepted new action goal ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275847 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275847 ms (missed cycles : 3).[0m ×2 + 3.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 3.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 3.83sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571264 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571264 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 4.21sINFOobjective_server_nodeFound path in 5 iterations (0.00448543 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×4 + 4.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 4.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 4.65sINFOros2_control_node[2026-10-29 01:33:29.386] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-10-29 01:33:29.386] [info] Accepted new action goal ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (1.3e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 7.22sINFOobjective_server_nodeFound path in 1 iterations (0.0019626 s). ×2 + 7.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 7.37sINFOros2_control_node[2026-10-29 01:33:32.105] [info] Received new action goal ×2 + 7.37sINFOros2_control_node[2026-10-29 01:33:32.105] [info] Accepted new action goal ×2 + 7.80sINFOros2_control_node[2026-10-29 01:33:32.537] [info] Received new action goal ×2 + 7.80sINFOros2_control_node[2026-10-29 01:33:32.537] [info] Accepted new action goal ×2 + 10.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 10.08sINFOros2_control_node[2026-10-29 01:33:34.814] [info] Received new action goal ×2 + 10.08sINFOros2_control_node[2026-10-29 01:33:34.814] [info] Accepted new action goal ×2 + 11.00sINFOobjective_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 + 11.00sINFOros2_control_node[2026-10-29 01:33:35.740] [info] Got request to cancel active goal. ×2 + 11.00sINFOros2_control_node[2026-10-29 01:33:35.740] [info] Canceling active goal... ×2 + 11.02sERRORobjective_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: 1793237615.75476909 seconds ×3 + 11.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.55sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 11.66sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793237616.39285660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969272 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969272 ms (missed cycles : 2).[0m ×2 + 12.65sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 12.66sINFOros2_control_node[2026-10-29 01:33:37.397] [info] Received new action goal ×2 + 12.66sINFOros2_control_node[2026-10-29 01:33:37.397] [info] Accepted new action goal ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132798 ms (missed cycles : 4). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132798 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 25 warnings · 226 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.09sINFOros2_control_node[2026-10-29 01:32:39.959] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-29 01:32:39.959] [info] Accepted new action goal ×2 + 0.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.97sINFOros2_control_node[2026-10-29 01:32:40.836] [info] Got request to cancel active goal. ×2 + 0.97sINFOros2_control_node[2026-10-29 01:32:40.836] [info] Canceling active goal... ×2 + 0.99sERRORobjective_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: 1793237560.86149549 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.53sINFOobjective_server_nodecaller: ×6 + 1.53sINFOobjective_server_nodetype: 0 ×6 + 1.53sINFOobjective_server_nodename: "" ×6 + 1.53sINFOobjective_server_nodeinstance_id: "" ×6 + 1.53sINFOobjective_server_node ×6 + 1.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793237561.47271180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.84sINFOros2_control_node[2026-10-29 01:32:41.706] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-10-29 01:32:41.706] [info] Accepted new action goal ×2 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 4.08sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.09sINFOros2_control_node[2026-10-29 01:32:43.956] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-29 01:32:43.956] [info] Accepted new action goal ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286315 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286315 ms (missed cycles : 3).[0m ×2 + 7.77sWARNros2_control_nodeCamera render tick took 1.06 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960117 ms (missed cycles : 3). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960117 ms (missed cycles : 3).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595451 ms (missed cycles : 4). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595451 ms (missed cycles : 4).[0m ×2 + 9.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2).[0m ×2 + 11.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 11.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 11.71sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 11.97sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 11.97sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 11.97sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 11.97sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 11.97sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 11.97sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 11.97sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 11.97sINFOobjective_server_nodeFailing stage(s): ×2 + 11.98sERRORobjective_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: 1793237571.84778333 seconds ×3 + 12.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.52sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5).[0m ×2 + 12.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793237572.45995331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793237572.58012486 seconds ×3 + 13.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.32sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793237573.23503709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.55sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Received new action goal ×2 + 13.55sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Accepted new action goal ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 12 warnings · 199 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×6 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739211 ms (missed cycles : 5). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739211 ms (missed cycles : 5).[0m ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×6 + 6.27sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×4 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.40sINFOobjective_server_nodeFound path in 1 iterations (0.00357136 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 6.97sINFOros2_control_node[2026-10-29 01:33:18.539] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-10-29 01:33:18.539] [info] Accepted new action goal ×2 + 9.22sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 9.49sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 9.49sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 9.50sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 9.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793237601.09605145 seconds ×3 + 9.52sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 13.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.80sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793237605.37023878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.98sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 13.98sINFOros2_control_node[2026-10-29 01:33:25.553] [info] Received new action goal ×2 + 13.98sINFOros2_control_node[2026-10-29 01:33:25.553] [info] Accepted new action goal ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275847 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275847 ms (missed cycles : 3).[0m ×2 + 16.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 135 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 13.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.64sERRORobjective_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: 1793237779.23769593 seconds ×3 + 14.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.20sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.25sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793237779.84827542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 14.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.47sINFOros2_control_node[2026-10-29 01:36:20.063] [info] Received new action goal ×2 + 14.47sINFOros2_control_node[2026-10-29 01:36:20.063] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 3 errors · 15 warnings · 412 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.63sINFOobjective_server_nodecaller: ×14 + 0.63sINFOobjective_server_nodetype: 0 ×14 + 0.63sINFOobjective_server_nodename: "" ×14 + 0.63sINFOobjective_server_nodeinstance_id: "" ×14 + 0.63sINFOobjective_server_node ×14 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.59sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.59sINFOros2_control_node[2026-10-29 01:37:30.077] [info] Received new action goal ×2 + 5.59sINFOros2_control_node[2026-10-29 01:37:30.077] [info] Accepted new action goal ×2 + 5.59sINFOros2_control_node[2026-10-29 01:37:30.077] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 12.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.26sINFOros2_control_node[2026-10-29 01:37:36.744] [info] Got request to cancel active goal. ×2 + 12.26sINFOros2_control_node[2026-10-29 01:37:36.744] [info] Canceling active goal... ×2 + 12.26sERRORobjective_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: 1793237856.74840307 seconds ×3 + 12.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237857.32940412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2).[0m ×2 + 13.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237858.23959970 seconds ×3 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2).[0m ×2 + 14.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793237858.82593155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.34sINFOobjective_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 + 14.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793237858.82757044 seconds ×3 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 14.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793237859.40754008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793237859.45861459 seconds ×3 + 15.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.63sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 15.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237860.15250206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 3 warnings · 228 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793237582.25520968 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.19sINFOobjective_server_nodecaller: ×6 + 2.19sINFOobjective_server_nodetype: 0 ×6 + 2.19sINFOobjective_server_nodename: "" ×6 + 2.19sINFOobjective_server_nodeinstance_id: "" ×6 + 2.19sINFOobjective_server_node ×6 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793237582.85732388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793237582.94747019 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793237583.58076954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Accepted new action goal ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.41sINFOros2_control_node[2026-10-29 01:33:07.004] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-10-29 01:33:07.004] [info] Accepted new action goal ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.72sINFOros2_control_node[2026-10-29 01:33:09.322] [info] Received new action goal ×2 + 8.72sINFOros2_control_node[2026-10-29 01:33:09.322] [info] Accepted new action goal ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 11.05sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 11.05sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 13.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.14sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 13.14sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 13.15sERRORobjective_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: 1793237593.74366426 seconds ×3 + 13.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.77sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.93sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 13.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.94sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 13.94sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 16.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 16.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 16.98sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 6 warnings · 3216 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×503 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×503 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1006 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1006 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793237757.52948332 seconds ×3 + 3.12sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793237758.24475408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Accepted new action goal ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3).[0m ×2 + 7.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.10sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275479 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275479 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×6 + 7.36sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.37sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.44sINFOobjective_server_nodeFound path in 1 iterations (0.00199393 s). ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X__________________X] ×2 + 7.57sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 7.58sINFOros2_control_node[2026-10-29 01:36:02.000] [info] Received new action goal ×2 + 7.58sINFOros2_control_node[2026-10-29 01:36:02.000] [info] Accepted new action goal ×2 + 9.89sINFOros2_control_node[2026-10-29 01:36:04.302] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-10-29 01:36:04.302] [info] Accepted new action goal ×2 + 11.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.55sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 11.55sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 12.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 13.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.44sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.51sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 14.68sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 16.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 131 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: 1793237779.23769593 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 0.61sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793237779.84827542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.83sINFOros2_control_node[2026-10-29 01:36:20.063] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-29 01:36:20.063] [info] Accepted new action goal ×2 + 4.85sINFOros2_control_node[2026-10-29 01:36:24.082] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-10-29 01:36:24.082] [info] Accepted new action goal ×2 + 8.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793237789.66807938 seconds ×3 + 10.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.97sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.03sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793237790.26479793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.13sINFOros2_control_node[2026-10-29 01:36:30.368] [info] Received new action goal ×2 + 11.13sINFOros2_control_node[2026-10-29 01:36:30.368] [info] Accepted new action goal ×2 + 13.04sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Record Square Trajectory | record_square_trajectory.xml | 10.4s | 3 errors · 147 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: 1793237800.73508930 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 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.01sINFOros2_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 Square Trajectory"
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 Square Trajectory" ×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 + 0.58sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793237801.31861353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.72sINFOros2_control_node[2026-10-29 01:36:41.453] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-10-29 01:36:41.453] [info] Accepted new action goal ×2 + 5.03sINFOros2_control_node[2026-10-29 01:36:45.764] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-10-29 01:36:45.764] [info] Accepted new action goal ×2 + 7.05sINFOros2_control_node[2026-10-29 01:36:47.785] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-10-29 01:36:47.785] [info] Accepted new action goal ×2 + 7.55sINFOros2_control_node[2026-10-29 01:36:48.286] [info] Received new action goal ×2 + 7.55sINFOros2_control_node[2026-10-29 01:36:48.286] [info] Accepted new action goal ×2 + 9.62sINFOros2_control_node[2026-10-29 01:36:50.357] [info] Received new action goal ×2 + 9.62sINFOros2_control_node[2026-10-29 01:36:50.357] [info] Accepted new action goal ×2 + 10.40sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 10.40sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793237811.13426614 seconds ×3 + 10.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.94sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.03sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793237811.76931310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.03sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 12.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.05sINFOros2_control_node[2026-10-29 01:36:52.783] [info] Received new action goal ×2 + 12.05sINFOros2_control_node[2026-10-29 01:36:52.783] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 9.6s | 3 errors · 15 warnings · 290 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.30sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 1.56sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 1.56sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 1.56sINFOobjective_server_nodeFailing stage(s): ×2 + 1.57sERRORobjective_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: 1793237571.84778333 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.11sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.11sINFOobjective_server_nodecaller: ×8 + 2.11sINFOobjective_server_nodetype: 0 ×8 + 2.11sINFOobjective_server_nodename: "" ×8 + 2.11sINFOobjective_server_nodeinstance_id: "" ×8 + 2.11sINFOobjective_server_node ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793237572.45995331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793237572.58012486 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793237573.23503709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851670 ms (missed cycles : 5). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851670 ms (missed cycles : 5).[0m ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.57sINFOobjective_server_nodeFound path in 1 iterations (0.00211991 s). ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 6.72sINFOros2_control_node[2026-10-29 01:32:56.994] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-29 01:32:56.994] [info] Accepted new action goal ×2 + 9.02sINFOros2_control_node[2026-10-29 01:32:59.296] [info] Received new action goal ×2 + 9.02sINFOros2_control_node[2026-10-29 01:32:59.296] [info] Accepted new action goal ×2 + 10.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 10.68sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Received new action goal ×2 + 10.68sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Accepted new action goal ×2 + 11.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793237582.25520968 seconds ×3 + 12.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 12.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793237582.85732388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793237582.94747019 seconds ×3 + 13.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 13.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793237583.58076954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 13.40sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 3 warnings · 216 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793237646.41702151 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793237647.00132251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918787 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918787 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793237647.07147717 seconds ×3 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 3.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.08sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.14sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793237651.55614853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.22sINFOobjective_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 + 5.23sINFOobjective_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 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 5.53sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Received new action goal ×2 + 5.53sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Accepted new action goal ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 8.35sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Received new action goal ×2 + 8.35sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 3 errors · 13 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[2026-10-29 01:37:36.744] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-29 01:37:36.744] [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: 1793237856.74840307 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237857.32940412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237858.23959970 seconds ×3 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793237858.82593155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.09sINFOobjective_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 + 2.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793237858.82757044 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793237859.40754008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793237859.45861459 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237860.15250206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237861.22266817 seconds ×3 + 4.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667080 ms (missed cycles : 3). | ||||
| ✓ 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 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.64sINFOobjective_server_nodecaller: ×14 + 0.64sINFOobjective_server_nodetype: 0 ×14 + 0.64sINFOobjective_server_nodename: "" ×14 + 0.64sINFOobjective_server_nodeinstance_id: "" ×14 + 0.64sINFOobjective_server_node ×14 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 1.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 3.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 17 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595451 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595451 ms (missed cycles : 4).[0m ×2 + 0.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 2.63sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.90sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.90sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.90sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.90sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.90sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.90sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.90sINFOobjective_server_nodeFailing stage(s): ×2 + 2.91sERRORobjective_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: 1793237571.84778333 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793237572.45995331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793237572.58012486 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793237573.23503709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Accepted new action goal ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3).[0m ×2 + 7.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 128 info |
+ 0.00sINFOros2_control_node[2026-10-29 01:32:59.296] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-29 01:32:59.296] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793237582.25520968 seconds ×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: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793237582.85732388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793237582.94747019 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.28sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793237583.58076954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.38sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 3 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793237646.41702151 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 ×5 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×10 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793237647.00132251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918787 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918787 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793237647.07147717 seconds ×3 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 3.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 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 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.64sINFOobjective_server_nodecaller: ×14 + 0.64sINFOobjective_server_nodetype: 0 ×14 + 0.64sINFOobjective_server_nodename: "" ×14 + 0.64sINFOobjective_server_nodeinstance_id: "" ×14 + 0.64sINFOobjective_server_node ×14 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 1.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 3.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 15 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[2026-10-29 01:37:36.744] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-29 01:37:36.744] [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: 1793237856.74840307 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237857.32940412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237858.23959970 seconds ×3 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793237858.82593155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.09sINFOobjective_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 + 2.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793237858.82757044 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793237859.40754008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793237859.45861459 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237860.15250206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237861.22266817 seconds ×3 + 4.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667080 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667080 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 15 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[2026-10-29 01:37:36.744] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-29 01:37:36.744] [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: 1793237856.74840307 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237857.32940412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237858.23959970 seconds ×3 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793237858.82593155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.09sINFOobjective_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 + 2.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793237858.82757044 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793237859.40754008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793237859.45861459 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237860.15250206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237861.22266817 seconds ×3 + 4.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667080 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667080 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.1s | 3 errors · 12 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.30sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 1.56sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 1.56sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 1.56sINFOobjective_server_nodeFailing stage(s): ×2 + 1.57sERRORobjective_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: 1793237571.84778333 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.11sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.11sINFOobjective_server_nodecaller: ×4 + 2.11sINFOobjective_server_nodetype: 0 ×4 + 2.11sINFOobjective_server_nodename: "" ×4 + 2.11sINFOobjective_server_nodeinstance_id: "" ×4 + 2.11sINFOobjective_server_node ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793237572.45995331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793237572.58012486 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793237573.23503709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 3 warnings · 3106 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×503 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×503 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1006 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1006 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793237757.52948332 seconds ×3 + 3.12sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793237758.24475408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Accepted new action goal ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 17 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595451 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595451 ms (missed cycles : 4).[0m ×2 + 0.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.63sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.90sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.90sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.90sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.90sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.90sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.90sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.90sINFOobjective_server_nodeFailing stage(s): ×2 + 2.91sERRORobjective_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: 1793237571.84778333 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793237572.45995331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793237572.58012486 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793237573.23503709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Accepted new action goal ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 17 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595451 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595451 ms (missed cycles : 4).[0m ×2 + 0.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.63sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.90sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.90sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.90sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.90sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.90sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.90sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.90sINFOobjective_server_nodeFailing stage(s): ×2 + 2.91sERRORobjective_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: 1793237571.84778333 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793237572.45995331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793237572.58012486 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793237573.23503709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Accepted new action goal ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 12 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.30sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 1.56sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 1.56sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 1.56sINFOobjective_server_nodeFailing stage(s): ×2 + 1.57sERRORobjective_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: 1793237571.84778333 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.11sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.11sINFOobjective_server_nodecaller: ×4 + 2.11sINFOobjective_server_nodetype: 0 ×4 + 2.11sINFOobjective_server_nodename: "" ×4 + 2.11sINFOobjective_server_nodeinstance_id: "" ×4 + 2.11sINFOobjective_server_node ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793237572.45995331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793237572.58012486 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793237573.23503709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 12 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.30sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 1.56sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 1.56sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 1.56sINFOobjective_server_nodeFailing stage(s): ×2 + 1.57sERRORobjective_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: 1793237571.84778333 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.11sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.11sINFOobjective_server_nodecaller: ×4 + 2.11sINFOobjective_server_nodetype: 0 ×4 + 2.11sINFOobjective_server_nodename: "" ×4 + 2.11sINFOobjective_server_nodeinstance_id: "" ×4 + 2.11sINFOobjective_server_node ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793237572.45995331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793237572.58012486 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793237573.23503709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 12 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048309 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776820 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.30sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 1.56sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 1.56sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 1.56sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 1.56sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 1.56sINFOobjective_server_nodeFailing stage(s): ×2 + 1.57sERRORobjective_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: 1793237571.84778333 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.11sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.11sINFOobjective_server_nodecaller: ×4 + 2.11sINFOobjective_server_nodetype: 0 ×4 + 2.11sINFOobjective_server_nodename: "" ×4 + 2.11sINFOobjective_server_nodeinstance_id: "" ×4 + 2.11sINFOobjective_server_node ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031336 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793237572.45995331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793237572.58012486 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793237573.23503709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-29 01:32:53.418] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896590 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793237582.25520968 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793237582.85732388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793237582.94747019 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793237583.58076954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793237582.25520968 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793237582.85732388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793237582.94747019 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793237583.58076954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Accepted new action goal ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793237582.25520968 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793237582.85732388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793237582.94747019 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793237583.58076954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Accepted new action goal ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793237582.25520968 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793237582.85732388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793237582.94747019 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793237583.58076954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Accepted new action goal ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-29 01:33:00.958] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793237582.25520968 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793237582.85732388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793237582.94747019 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793237583.58076954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-29 01:33:03.674] [info] Accepted new action goal ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 3 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-10-29 01:33:11.652] [info] Accepted new action goal ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.740] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-29 01:33:13.741] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1793237593.74366426 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793237594.36399746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-10-29 01:33:14.537] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975769 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 6 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-10-29 01:33:34.814] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-10-29 01:33:34.814] [info] Accepted new action goal ×2 + 1.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOros2_control_node[2026-10-29 01:33:35.740] [info] Got request to cancel active goal. ×2 + 1.90sINFOros2_control_node[2026-10-29 01:33:35.740] [info] Canceling active goal... ×2 + 1.91sERRORobjective_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: 1793237615.75476909 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.45sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.45sINFOobjective_server_nodecaller: ×2 + 2.45sINFOobjective_server_nodetype: 0 ×2 + 2.45sINFOobjective_server_nodename: "" ×2 + 2.45sINFOobjective_server_nodeinstance_id: "" ×2 + 2.45sINFOobjective_server_node ×2 + 2.55sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793237616.39285660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969272 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969272 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-10-29 01:33:37.397] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-10-29 01:33:37.397] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132798 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132798 ms (missed cycles : 4).[0m ×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: 1793237646.41702151 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793237647.00132251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918787 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918787 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793237647.07147717 seconds ×3 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 3.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793237651.55614853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Accepted new action goal ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793237651.55614853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Accepted new action goal ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793237651.55614853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Accepted new action goal ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793237651.55614853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Accepted new action goal ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793237651.55614853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Accepted new action goal ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793237651.55614853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Accepted new action goal ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793237647.84887099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-29 01:34:07.943] [info] Accepted new action goal ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793237649.94902992 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793237651.55614853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-29 01:34:11.942] [info] Accepted new action goal ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-10-29 01:34:14.770] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 3 warnings · 1422 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793237704.99635291 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793237705.61807323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.73sINFOros2_control_node[2026-10-29 01:35:05.721] [info] Received new action goal ×2 + 0.73sINFOros2_control_node[2026-10-29 01:35:05.721] [info] Accepted new action goal ×2 + 1.99sINFOobjective_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 + 2.00sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.07sINFOobjective_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 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.56sINFOjoint_trajectory_controllerReceived new action goal ×223 + 2.56sINFOjoint_trajectory_controllerAccepted new action goal ×223 + 2.56sINFOros2_control_nodeReceived new action goal[0m ×446 + 2.56sINFOros2_control_nodeAccepted new action goal[0m ×446 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732116 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732116 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 3 warnings · 3106 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×503 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×503 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1006 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1006 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793237757.52948332 seconds ×3 + 3.12sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793237758.24475408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Accepted new action goal ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 warnings · 3106 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×503 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×503 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1006 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1006 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793237757.52948332 seconds ×3 + 3.12sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793237758.24475408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Accepted new action goal ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 3 warnings · 3106 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×503 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×503 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1006 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1006 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793237757.52948332 seconds ×3 + 3.12sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793237758.24475408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Accepted new action goal ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 3 warnings · 3106 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×503 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×503 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1006 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1006 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793237757.52948332 seconds ×3 + 3.12sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793237758.24475408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-29 01:35:58.428] [info] Accepted new action goal ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908425 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-29 01:36:05.968] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793237767.26496887 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793237768.92710662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-29 01:36:09.092] [info] Accepted new action goal ×2 + 5.40sINFOobjective_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: 1793237779.23769593 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 0.61sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793237779.84827542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.83sINFOros2_control_node[2026-10-29 01:36:20.063] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-29 01:36:20.063] [info] Accepted new action goal ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 66 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793237789.66807938 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.18sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.18sINFOobjective_server_nodecaller: ×2 + 2.18sINFOobjective_server_nodetype: 0 ×2 + 2.18sINFOobjective_server_nodename: "" ×2 + 2.18sINFOobjective_server_nodeinstance_id: "" ×2 + 2.18sINFOobjective_server_node ×2 + 2.24sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793237790.26479793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.33sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.34sINFOros2_control_node[2026-10-29 01:36:30.368] [info] Received new action goal ×2 + 2.34sINFOros2_control_node[2026-10-29 01:36:30.368] [info] Accepted new action goal ×2 + 4.25sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793237844.48603129 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793237845.31729341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843249 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793237845.36748552 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793237845.95263433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_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 + 1.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793237845.97395444 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793237846.67403221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-10-29 01:37:26.767] [info] Accepted new action goal ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 12 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[2026-10-29 01:37:36.744] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-29 01:37:36.744] [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: 1793237856.74840307 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237857.32940412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237858.23959970 seconds ×3 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793237858.82593155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.09sINFOobjective_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 + 2.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793237858.82757044 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793237859.40754008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793237859.45861459 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237860.15250206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 12 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[2026-10-29 01:37:36.744] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-29 01:37:36.744] [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: 1793237856.74840307 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237857.32940412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315207 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237858.23959970 seconds ×3 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198352 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793237858.82593155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.09sINFOobjective_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 + 2.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793237858.82757044 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793237859.40754008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793237859.45861459 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237860.15250206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831902 ms (missed cycles : 4).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 11.0s | 26 warnings · 786 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/2026-10-29-01-32-14-527766-2d52619803b4-8328 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.59sINFOcontroller_managerupdate rate is 600 Hz + 0.59sINFOcontroller_managerOverruns handling is : enabled + 0.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810522 ms (missed cycles : 3). + 0.77sINFOros2_control_node-1process started with pid [8376] ×2 + 0.77sINFOmove_group-9process started with pid [8427] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [8428] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [8429] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [8430] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [8431] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [8432] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [8433] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [8434] ×2 + 0.77sINFOexecute_objective_bridge-17process started with pid [8435] ×2 + 0.77sINFOui_teleop_bridge-18process started with pid [8436] ×2 + 0.77sINFOweb_bridge-19process started with pid [8437] ×2 + 0.77sINFOtf_visualization_relay-20process started with pid [8508] ×2 + 0.77sINFOjoint_state_visualization_relay-21process started with pid [8509] ×2 + 0.77sINFOtf2_web_republisher_node-22process started with pid [8510] ×2 + 0.77sINFOvideo_server-23process started with pid [8511] ×2 + 0.77sINFOweb_bridge_auth_proxy-24process started with pid [8512] ×2 + 0.77sINFOweb_video_auth_proxy-25process started with pid [8513] ×2 + 0.78sINFOros2-2process started with pid [8377] ×2 + 0.78sINFOros2-3process started with pid [8378] ×2 + 0.78sINFOros2-4process started with pid [8379] ×2 + 0.78sINFOros2-5process started with pid [8380] ×2 + 0.78sINFOros2-6process started with pid [8381] ×2 + 0.78sINFOros2-7process started with pid [8382] ×2 + 0.78sINFOros2-8process started with pid [8383] ×2 + 0.79sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.79sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.79sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.79sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.79sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.79sWARNros2_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 + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810522 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.86sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.86sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.88sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.88sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOvideo_server2026/10/29 01:32:15 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/10/29 01:32:15 INF configuration loaded from /tmp/moveit-webrtc-v5qny1zq/mediamtx.yml ×2 + 1.01sINFOvideo_server2026/10/29 01:32:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.01sINFOvideo_server2026/10/29 01:32:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.19sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.45sINFOweb_bridge_auth_proxy2026-10-29 01:32:16,268 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.45sINFOweb_bridge_auth_proxy2026-10-29 01:32:16,270 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.45sINFOweb_video_auth_proxy2026-10-29 01:32:16,273 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.82sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.82sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.82sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.82sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.84sINFOros2_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 + 1.84sINFOros2_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 + 1.88sINFOmove_group[2026-10-29 01:32:16.701] [moveit_pro_license] [info] ×2 + 1.88sINFOmove_group************************************************* ×4 + 1.88sINFOmove_group* MoveIt Pro License ×2 + 1.88sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.02sINFOwaypoint_manager_node[2026-10-29 01:32:16.838] [moveit_pro_license] [info] ×2 + 2.02sINFOwaypoint_manager_node************************************************* ×4 + 2.02sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.02sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349416 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349416 ms (missed cycles : 6).[0m ×2 + 2.20sINFOmove_group ×4 + 2.21sINFOmove_group[92mYou can start planning now![0m ×2 + 2.78sINFOobjective_server_node[2026-10-29 01:32:17.602] [moveit_pro_license] [info] ×2 + 2.78sINFOobjective_server_node************************************************* ×4 + 2.78sINFOobjective_server_node* MoveIt Pro License ×2 + 2.78sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 2.90sINFOobjective_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 + 2.90sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 2.91sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.17sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.17sINFOros2_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 + 3.18sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.18sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.18sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.18sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.18sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.18sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.18sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.18sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.18sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.18sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.18sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.18sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.18sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.18sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.18sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.18sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.18sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.18sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.18sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.20sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.20sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.20sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.20sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.20sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 + 3.20sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 [0m ×2 + 3.21sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.21sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.22sINFOforce_torque_sensor_broadcasterconfigure successful + 3.22sINFOros2_control_nodeconfigure successful[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.22sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 3.23sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.23sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.37sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.37sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.50sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.50sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.50sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.51sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 3.51sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 3.54sINFOros2-2process has finished cleanly [pid 8377] ×2 + 3.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOcomponent_container_mt[2026-10-29 01:32:18.390] [moveit_pro_license] [info] ×2 + 3.57sINFOcomponent_container_mt************************************************* ×4 + 3.57sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.57sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.63sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 + 3.63sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 [0m ×2 + 3.67sINFOros2_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 + 3.67sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 3.67sWARNros2_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 + 3.67sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.67sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.68sINFOros2_control_node[2026-10-29 01:32:18.498] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.68sINFOros2_control_node[2026-10-29 01:32:18.498] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 3.71sINFOros2_control_node[2026-10-29 01:32:18.530] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.71sINFOros2_control_node[2026-10-29 01:32:18.530] [info] Controller state will be published at 50 Hz. ×2 + 3.72sINFOros2_control_node[2026-10-29 01:32:18.539] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 3.95sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.95sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.95sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.95sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.98sINFOros2-6process has finished cleanly [pid 8381] ×2 + 4.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 + 4.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 [0m ×2 + 4.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.09sINFOros2_control_node[2026-10-29 01:32:18.909] [info] Controller state will be published at 10 Hz. ×2 + 4.09sINFOros2_control_node[2026-10-29 01:32:18.910] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080984 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080984 ms (missed cycles : 2).[0m ×2 + 4.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 + 4.42sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 [0m ×2 + 4.44sINFOros2-7process has finished cleanly [pid 8382] ×2 + 4.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.47sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.47sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.48sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.48sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.49sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.77sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.77sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.77sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.77sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.77sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 + 4.77sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 [0m ×2 + 4.79sINFOros2-5process has finished cleanly [pid 8380] ×2 + 4.81sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.82sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.82sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.92sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 5.12sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.12sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.12sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.12sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.15sINFOros2-4process has finished cleanly [pid 8379] ×2 + 5.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 + 5.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 [0m ×2 + 5.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.22sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.24sINFOros2_control_node[2026-10-29 01:32:20.064] [info] Controller state will be published at 20 Hz. ×2 + 5.24sINFOros2_control_node[2026-10-29 01:32:20.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.60sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.60sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.60sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.60sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.60sINFOros2-8process has finished cleanly [pid 8383] ×2 + 5.60sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 + 5.60sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 [0m ×2 + 5.61sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.64sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.64sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.64sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.64sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.64sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.64sINFOros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287230 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287230 ms (missed cycles : 2).[0m ×2 + 5.65sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.65sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.97sINFOros2-3process has finished cleanly [pid 8378] ×2 + 6.01sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.96sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 9.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 9.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 9.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 9.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 9.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 9.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 10.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 10.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 10.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 10.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 10.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 10.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 10.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.60sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 10.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 10.60sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 10.60sINFOobjective_server_nodeparameter_overrides: [] ×12 + 10.60sINFOobjective_server_nodecaller: ×12 + 10.60sINFOobjective_server_nodetype: 0 ×12 + 10.60sINFOobjective_server_nodename: "" ×12 + 10.60sINFOobjective_server_nodeinstance_id: "" ×12 + 10.60sINFOobjective_server_node ×12 + 10.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 11.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 11.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 11.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 12.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 12.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 12.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 13.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 13.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 13.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 14.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 14.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 warnings · 378 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.55sINFOobjective_server_nodecaller: ×12 + 0.55sINFOobjective_server_nodetype: 0 ×12 + 0.55sINFOobjective_server_nodename: "" ×12 + 0.55sINFOobjective_server_nodeinstance_id: "" ×12 + 0.55sINFOobjective_server_node ×12 + 0.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.08sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 7.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.57sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 7.57sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| ✓ 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 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.64sINFOobjective_server_nodecaller: ×14 + 0.64sINFOobjective_server_nodetype: 0 ×14 + 0.64sINFOobjective_server_nodename: "" ×14 + 0.64sINFOobjective_server_nodeinstance_id: "" ×14 + 0.64sINFOobjective_server_node ×14 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 1.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 3.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 15 warnings · 330 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/2026-10-29-01-32-14-527766-2d52619803b4-8328 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.59sINFOcontroller_managerupdate rate is 600 Hz + 0.59sINFOcontroller_managerOverruns handling is : enabled + 0.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810522 ms (missed cycles : 3). + 0.77sINFOros2_control_node-1process started with pid [8376] ×2 + 0.77sINFOmove_group-9process started with pid [8427] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [8428] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [8429] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [8430] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [8431] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [8432] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [8433] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [8434] ×2 + 0.77sINFOexecute_objective_bridge-17process started with pid [8435] ×2 + 0.77sINFOui_teleop_bridge-18process started with pid [8436] ×2 + 0.77sINFOweb_bridge-19process started with pid [8437] ×2 + 0.77sINFOtf_visualization_relay-20process started with pid [8508] ×2 + 0.77sINFOjoint_state_visualization_relay-21process started with pid [8509] ×2 + 0.77sINFOtf2_web_republisher_node-22process started with pid [8510] ×2 + 0.77sINFOvideo_server-23process started with pid [8511] ×2 + 0.77sINFOweb_bridge_auth_proxy-24process started with pid [8512] ×2 + 0.77sINFOweb_video_auth_proxy-25process started with pid [8513] ×2 + 0.78sINFOros2-2process started with pid [8377] ×2 + 0.78sINFOros2-3process started with pid [8378] ×2 + 0.78sINFOros2-4process started with pid [8379] ×2 + 0.78sINFOros2-5process started with pid [8380] ×2 + 0.78sINFOros2-6process started with pid [8381] ×2 + 0.78sINFOros2-7process started with pid [8382] ×2 + 0.78sINFOros2-8process started with pid [8383] ×2 + 0.79sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.79sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.79sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.79sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.79sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.79sWARNros2_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 + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810522 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.86sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.86sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.88sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.88sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOvideo_server2026/10/29 01:32:15 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/10/29 01:32:15 INF configuration loaded from /tmp/moveit-webrtc-v5qny1zq/mediamtx.yml ×2 + 1.01sINFOvideo_server2026/10/29 01:32:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.01sINFOvideo_server2026/10/29 01:32:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.19sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.45sINFOweb_bridge_auth_proxy2026-10-29 01:32:16,268 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.45sINFOweb_bridge_auth_proxy2026-10-29 01:32:16,270 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.45sINFOweb_video_auth_proxy2026-10-29 01:32:16,273 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.82sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.82sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.82sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.82sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.84sINFOros2_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 + 1.84sINFOros2_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 + 1.88sINFOmove_group[2026-10-29 01:32:16.701] [moveit_pro_license] [info] ×2 + 1.88sINFOmove_group************************************************* ×4 + 1.88sINFOmove_group* MoveIt Pro License ×2 + 1.88sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.02sINFOwaypoint_manager_node[2026-10-29 01:32:16.838] [moveit_pro_license] [info] ×2 + 2.02sINFOwaypoint_manager_node************************************************* ×4 + 2.02sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.02sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349416 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349416 ms (missed cycles : 6).[0m ×2 + 2.20sINFOmove_group ×4 + 2.21sINFOmove_group[92mYou can start planning now![0m ×2 + 2.78sINFOobjective_server_node[2026-10-29 01:32:17.602] [moveit_pro_license] [info] ×2 + 2.78sINFOobjective_server_node************************************************* ×4 + 2.78sINFOobjective_server_node* MoveIt Pro License ×2 + 2.78sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 2.90sINFOobjective_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 + 2.90sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 2.91sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 2.91sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.17sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.17sINFOros2_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 + 3.18sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.18sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.18sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.18sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.18sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.18sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.18sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.18sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.18sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.18sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.18sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.18sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.18sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.18sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.18sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.18sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.18sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.18sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.18sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.18sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.20sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.20sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.20sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.20sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.20sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 + 3.20sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 [0m ×2 + 3.21sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.21sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.22sINFOforce_torque_sensor_broadcasterconfigure successful + 3.22sINFOros2_control_nodeconfigure successful[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.22sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 3.23sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.23sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.37sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.37sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.50sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.50sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.50sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.51sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 3.51sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 3.54sINFOros2-2process has finished cleanly [pid 8377] ×2 + 3.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOcomponent_container_mt[2026-10-29 01:32:18.390] [moveit_pro_license] [info] ×2 + 3.57sINFOcomponent_container_mt************************************************* ×4 + 3.57sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.57sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.63sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 + 3.63sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ieh3byyp --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_bvdhjp66 --params-file /tmp/launch_params_9j5eq4z1 [0m ×2 + 3.67sINFOros2_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 + 3.67sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 3.67sWARNros2_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 + 3.67sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.67sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.68sINFOros2_control_node[2026-10-29 01:32:18.498] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.68sINFOros2_control_node[2026-10-29 01:32:18.498] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 3.71sINFOros2_control_node[2026-10-29 01:32:18.530] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.71sINFOros2_control_node[2026-10-29 01:32:18.530] [info] Controller state will be published at 50 Hz. ×2 + 3.72sINFOros2_control_node[2026-10-29 01:32:18.539] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_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 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.64sINFOobjective_server_nodecaller: ×14 + 0.64sINFOobjective_server_nodetype: 0 ×14 + 0.64sINFOobjective_server_nodename: "" ×14 + 0.64sINFOobjective_server_nodeinstance_id: "" ×14 + 0.64sINFOobjective_server_node ×14 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 1.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 3.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [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 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.64sINFOobjective_server_nodecaller: ×14 + 0.64sINFOobjective_server_nodetype: 0 ×14 + 0.64sINFOobjective_server_nodename: "" ×14 + 0.64sINFOobjective_server_nodeinstance_id: "" ×14 + 0.64sINFOobjective_server_node ×14 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 1.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 3.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [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 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.64sINFOobjective_server_nodecaller: ×14 + 0.64sINFOobjective_server_nodetype: 0 ×14 + 0.64sINFOobjective_server_nodename: "" ×14 + 0.64sINFOobjective_server_nodeinstance_id: "" ×14 + 0.64sINFOobjective_server_node ×14 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 1.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 3.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [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 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.64sINFOobjective_server_nodecaller: ×14 + 0.64sINFOobjective_server_nodetype: 0 ×14 + 0.64sINFOobjective_server_nodename: "" ×14 + 0.64sINFOobjective_server_nodeinstance_id: "" ×14 + 0.64sINFOobjective_server_node ×14 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 1.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 3.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 warnings · 364 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237545.46106672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237545.47127819 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.55sINFOobjective_server_nodecaller: ×12 + 0.55sINFOobjective_server_nodetype: 0 ×12 + 0.55sINFOobjective_server_nodename: "" ×12 + 0.55sINFOobjective_server_nodeinstance_id: "" ×12 + 0.55sINFOobjective_server_node ×12 + 0.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237546.04963207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.08sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237546.95980573 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237547.56174016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237547.62190962 seconds ×3 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237548.26707053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237548.27720308 seconds ×3 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237548.85416579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237549.00466752 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237549.67528701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828420 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237549.72543526 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793237550.43590832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.8961e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-10-29 01:32:30.541] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-10-29 01:32:33.030] [info] Accepted new action goal ×2 | ||||