136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
9.8s
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 | 42.8s | 27 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793747011.14490795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2).[0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 7.13sINFOros2_control_node[2026-11-03 23:03:34.430] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-11-03 23:03:34.430] [info] Accepted new action goal ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681396 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681396 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694677 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694677 ms (missed cycles : 2).[0m ×2 + 10.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.30sINFOros2_control_node[2026-11-03 23:03:37.600] [info] Received new action goal ×2 + 10.30sINFOros2_control_node[2026-11-03 23:03:37.600] [info] Accepted new action goal ×2 + 13.27sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.32sINFOros2_control_node[2026-11-03 23:03:40.622] [info] Received new action goal ×2 + 13.32sINFOros2_control_node[2026-11-03 23:03:40.622] [info] Accepted new action goal ×2 + 16.29sINFOobjective_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 + 16.29sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.29sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.29sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.29sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.93sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.83sINFOobjective_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 + 23.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.83sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.83sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.83sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.83sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.69sINFOros2_control_node[2026-11-03 23:03:51.994] [info] Received new action goal ×2 + 24.69sINFOros2_control_node[2026-11-03 23:03:51.994] [info] Accepted new action goal ×2 + 25.88sINFOobjective_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 + 25.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 26.22sINFOros2_control_node[2026-11-03 23:03:53.518] [info] Received new action goal ×2 + 26.22sINFOros2_control_node[2026-11-03 23:03:53.518] [info] Accepted new action goal ×2 + 28.49sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 28.49sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.50sINFOros2_control_node[2026-11-03 23:03:55.805] [info] Received new action goal ×2 + 28.50sINFOros2_control_node[2026-11-03 23:03:55.805] [info] Accepted new action goal ×2 + 31.52sINFOros2_control_node[2026-11-03 23:03:58.824] [info] Received new action goal ×2 + 31.52sINFOros2_control_node[2026-11-03 23:03:58.824] [info] Accepted new action goal ×2 + 34.11sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 34.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.17sINFOros2_control_node[2026-11-03 23:04:01.468] [info] Received new action goal ×2 + 34.17sINFOros2_control_node[2026-11-03 23:04:01.468] [info] Accepted new action goal ×2 + 38.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694386 ms (missed cycles : 2). + 38.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694386 ms (missed cycles : 2).[0m ×2 + 44.86sINFOros2_control_node[2026-11-03 23:04:12.156] [info] Received new action goal ×2 + 44.86sINFOros2_control_node[2026-11-03 23:04:12.156] [info] Accepted new action goal ×2 + 46.01sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793747053.31248307 seconds ×3 + 46.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.59sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.80sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793747054.10322952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.82sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 47.84sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.85sINFOros2_control_node[2026-11-03 23:04:15.148] [info] Received new action goal ×2 + 47.85sINFOros2_control_node[2026-11-03 23:04:15.148] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 34.7s | 25 warnings · 311 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:06:07.964] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:06:07.964] [info] Accepted new action goal ×2 + 0.50sINFOros2_control_node[2026-11-03 23:06:08.465] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-11-03 23:06:08.465] [info] Accepted new action goal ×2 + 2.57sINFOros2_control_node[2026-11-03 23:06:10.537] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-11-03 23:06:10.537] [info] Accepted new action goal ×2 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793747171.35153794 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.93sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.93sINFOobjective_server_nodecaller: ×8 + 3.93sINFOobjective_server_nodetype: 0 ×8 + 3.93sINFOobjective_server_nodename: "" ×8 + 3.93sINFOobjective_server_nodeinstance_id: "" ×8 + 3.93sINFOobjective_server_node ×8 + 4.06sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793747172.02755785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-11-03 23:06:13.062] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-11-03 23:06:13.062] [info] Accepted new action goal ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392832 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392832 ms (missed cycles : 3).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973964 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973964 ms (missed cycles : 2).[0m ×2 + 8.97sWARNros2_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 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969997 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969997 ms (missed cycles : 2).[0m ×2 + 9.71sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.72sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.76sINFOros2_control_node[2026-11-03 23:06:17.729] [info] Received new action goal ×2 + 9.76sINFOros2_control_node[2026-11-03 23:06:17.729] [info] Accepted new action goal ×2 + 19.61sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 19.61sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 19.63sINFOros2_control_node[2026-11-03 23:06:27.593] [info] Received new action goal ×2 + 19.63sINFOros2_control_node[2026-11-03 23:06:27.593] [info] Accepted new action goal ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567844 ms (missed cycles : 3). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567844 ms (missed cycles : 3).[0m ×2 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472032 ms (missed cycles : 3). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472032 ms (missed cycles : 3).[0m ×2 + 23.95sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 24.76sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.77sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.82sINFOros2_control_node[2026-11-03 23:06:32.783] [info] Received new action goal ×2 + 24.82sINFOros2_control_node[2026-11-03 23:06:32.783] [info] Accepted new action goal ×2 + 34.24sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 34.25sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.26sINFOros2_control_node[2026-11-03 23:06:42.225] [info] Received new action goal ×2 + 34.26sINFOros2_control_node[2026-11-03 23:06:42.225] [info] Accepted new action goal ×2 + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737367 ms (missed cycles : 2). + 34.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737367 ms (missed cycles : 2).[0m ×2 + 37.26sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.04sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 38.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 38.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 38.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 38.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 38.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 39.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 39.58sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.60sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 39.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 40.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 40.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.42sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 40.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 40.42sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 40.42sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×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 | 32.5s | 66 warnings · 18502 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793747064.87342191 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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: 1793747065.49452519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.79sINFOros2_control_node[2026-11-03 23:04:25.658] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-11-03 23:04:25.658] [info] Accepted new action goal ×2 + 2.05sINFOobjective_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 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287768 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287768 ms (missed cycles : 2).[0m ×2 + 2.87sINFOjoint_trajectory_controllerReceived new action goal ×3042 + 2.87sINFOjoint_trajectory_controllerAccepted new action goal ×3042 + 2.87sINFOros2_control_nodeReceived new action goal[0m ×6084 + 2.87sINFOros2_control_nodeAccepted new action goal[0m ×6084 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521913 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521913 ms (missed cycles : 2).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901064 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901064 ms (missed cycles : 2).[0m ×2 + 8.14sINFOjoint_trajectory_controllerGot request to cancel goal ×10 + 8.14sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×5 + 8.14sINFOros2_control_nodeGot request to cancel goal[0m ×20 + 8.14sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×10 + 8.15sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810664 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810664 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012399 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012399 ms (missed cycles : 2).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145779 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145779 ms (missed cycles : 2).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671681 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671681 ms (missed cycles : 2).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680445 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680445 ms (missed cycles : 2).[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999448 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999448 ms (missed cycles : 2).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145968 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145968 ms (missed cycles : 2).[0m ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241372 ms (missed cycles : 2). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241372 ms (missed cycles : 2).[0m ×2 + 20.36sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703355 ms (missed cycles : 2). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703355 ms (missed cycles : 2).[0m ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 24.256644 ms (missed cycles : 15). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 24.256644 ms (missed cycles : 15).[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393299 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393299 ms (missed cycles : 2).[0m ×2 + 23.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694033 ms (missed cycles : 2). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694033 ms (missed cycles : 2).[0m ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817407 ms (missed cycles : 2). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817407 ms (missed cycles : 2).[0m ×2 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968007 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968007 ms (missed cycles : 2).[0m ×2 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705109 ms (missed cycles : 2). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705109 ms (missed cycles : 2).[0m ×2 + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847673 ms (missed cycles : 2). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847673 ms (missed cycles : 2).[0m ×2 + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905226 ms (missed cycles : 2). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905226 ms (missed cycles : 2).[0m ×2 + 32.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793747097.34754419 seconds ×3 + 32.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 32.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 32.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 32.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 32.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 32.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 33.02sINFOobjective_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: ""
+ 33.02sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 33.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793747098.00470924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 33.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 33.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 33.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 33.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 33.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 33.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 33.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.27sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 33.29sINFOros2_control_node[2026-11-03 23:04:58.158] [info] Received new action goal ×2 + 33.29sINFOros2_control_node[2026-11-03 23:04:58.158] [info] Accepted new action goal ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846808 ms (missed cycles : 2). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846808 ms (missed cycles : 2).[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989307 ms (missed cycles : 2). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989307 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 20.2s | 51 warnings · 13674 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4494 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2246 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2246 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×4492 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905226 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905226 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793747097.34754419 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_nodecaller: ×4 + 3.88sINFOobjective_server_nodetype: 0 ×4 + 3.88sINFOobjective_server_nodename: "" ×4 + 3.88sINFOobjective_server_nodeinstance_id: "" ×4 + 3.88sINFOobjective_server_node ×4 + 3.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793747098.00470924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.14sINFOros2_control_node[2026-11-03 23:04:58.158] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-11-03 23:04:58.158] [info] Accepted new action goal ×2 + 5.39sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.45sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846808 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846808 ms (missed cycles : 2).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989307 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989307 ms (missed cycles : 2).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793275 ms (missed cycles : 2). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793275 ms (missed cycles : 2).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171702 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171702 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706471 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706471 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917386 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917386 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730227 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730227 ms (missed cycles : 2).[0m ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904795 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904795 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546316 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546316 ms (missed cycles : 2).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882265 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882265 ms (missed cycles : 2).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095654 ms (missed cycles : 2). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095654 ms (missed cycles : 2).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764002 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764002 ms (missed cycles : 2).[0m ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2).[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2).[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2).[0m ×2 + 23.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793747117.50120616 seconds ×3 + 24.12sINFOobjective_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: ""
+ 24.12sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 24.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793747118.23543239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 24.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 24.42sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 24.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 24.44sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Received new action goal ×2 + 24.44sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Accepted new action goal ×2 + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.6s | 3 errors · 14 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.0049222 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.41sINFOros2_control_node[2026-11-03 23:02:52.139] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-11-03 23:02:52.139] [info] Accepted new action goal ×2 + 0.84sINFOros2_control_node[2026-11-03 23:02:52.571] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-11-03 23:02:52.571] [info] Accepted new action goal ×2 + 2.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sINFOobjective_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 + 2.61sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.61sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.61sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.61sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.66sERRORobjective_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: 1793746974.38754272 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793746975.18341660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.49sINFOros2_control_node[2026-11-03 23:02:56.218] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-11-03 23:02:56.218] [info] Accepted new action goal ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951589 ms (missed cycles : 6). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951589 ms (missed cycles : 6).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.934466 ms (missed cycles : 6). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.934466 ms (missed cycles : 6).[0m ×2 + 8.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.72sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.73sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.78sINFOros2_control_node[2026-11-03 23:03:00.509] [info] Received new action goal ×2 + 8.78sINFOros2_control_node[2026-11-03 23:03:00.509] [info] Accepted new action goal ×2 + 18.17sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.28sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 18.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.31sINFOros2_control_node[2026-11-03 23:03:10.044] [info] Received new action goal ×2 + 18.31sINFOros2_control_node[2026-11-03 23:03:10.044] [info] Accepted new action goal ×2 + 22.23sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793746993.95846510 seconds ×3 + 22.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.77sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 22.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793746994.63537884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.08sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 23.09sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.10sINFOros2_control_node[2026-11-03 23:03:14.830] [info] Received new action goal ×2 + 23.10sINFOros2_control_node[2026-11-03 23:03:14.830] [info] Accepted new action goal ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875763 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875763 ms (missed cycles : 2).[0m ×2 + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713418 ms (missed cycles : 2). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713418 ms (missed cycles : 2).[0m ×2 + 25.59sINFOros2_control_node[2026-11-03 23:03:17.320] [info] Received new action goal ×2 + 25.59sINFOros2_control_node[2026-11-03 23:03:17.320] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 33 warnings · 203 info |
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793746993.95846510 seconds ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793746994.63537884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.87sINFOros2_control_node[2026-11-03 23:03:14.830] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-11-03 23:03:14.830] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875763 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875763 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713418 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713418 ms (missed cycles : 2).[0m ×2 + 3.36sINFOros2_control_node[2026-11-03 23:03:17.320] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-11-03 23:03:17.320] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671424 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671424 ms (missed cycles : 2).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692274 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692274 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776811 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776811 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981318 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981318 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824253 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824253 ms (missed cycles : 2).[0m ×2 + 11.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793747005.89169812 seconds ×3 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857178 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857178 ms (missed cycles : 2).[0m ×2 + 12.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.47sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793747006.49369359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 12.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 12.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793747006.56387138 seconds ×3 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785462 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785462 ms (missed cycles : 2).[0m ×2 + 13.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.34sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.52sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 13.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.53sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 13.53sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 15.54sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 3 warnings · 766 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[2026-11-03 23:04:12.156] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-11-03 23:04:12.156] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793747053.31248307 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793747054.10322952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.89sINFOros2_control_node[2026-11-03 23:04:15.148] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-11-03 23:04:15.148] [info] Accepted new action goal ×2 + 7.59sINFOobjective_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 + 7.59sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.59sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.59sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.59sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.98sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 10.00sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.01sINFOros2_control_node[2026-11-03 23:04:21.268] [info] Received new action goal ×2 + 10.02sINFOros2_control_node[2026-11-03 23:04:21.268] [info] Accepted new action goal ×2 + 13.62sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793747064.87342191 seconds ×3 + 14.16sINFOobjective_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: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793747065.49452519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 14.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.40sINFOros2_control_node[2026-11-03 23:04:25.658] [info] Received new action goal ×2 + 14.40sINFOros2_control_node[2026-11-03 23:04:25.658] [info] Accepted new action goal ×2 + 15.67sINFOobjective_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 + 15.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287768 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287768 ms (missed cycles : 2).[0m ×2 + 16.49sINFOjoint_trajectory_controllerReceived new action goal ×91 + 16.49sINFOjoint_trajectory_controllerAccepted new action goal ×91 + 16.49sINFOros2_control_nodeReceived new action goal[0m ×182 + 16.49sINFOros2_control_nodeAccepted new action goal[0m ×182 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 77 errors · 32 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 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [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: 1793747218.35021687 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793747218.95522857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793747220.06540895 seconds ×3 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793747220.66955256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.33sINFOobjective_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 + 2.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793747220.67147446 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793747221.27189946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793747221.30283093 seconds ×3 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793747222.00144172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049625 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049625 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793747223.03164053 seconds ×3 + 4.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437129 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437129 ms (missed cycles : 3).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670729 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670729 ms (missed cycles : 2).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669904 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669904 ms (missed cycles : 2).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773595 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773595 ms (missed cycles : 2).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672445 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672445 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673447 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673447 ms (missed cycles : 2).[0m ×2 + 10.37sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.37sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORweb_video_auth_proxy-25process has died [pid 8463, 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 + 10.37sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.39sERRORweb_bridge_auth_proxy-24process has died [pid 8462, 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 + 10.39sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.39sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.40sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.40sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.41sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.41sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.42sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.42sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.43sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.43sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.44sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.44sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.45sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.45sINFOvideo_server-23process has finished cleanly [pid 8461] ×2 + 10.45sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.46sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.47sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.47sINFOcontroller_managerShutdown request received.... + 10.47sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.47sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.47sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.47sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.47sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.47sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.47sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.47sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.47sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.47sINFOvideo_server2026/11/03 23:07:08 INF shutting down gracefully ×2 + 10.47sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.47sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.47sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOcontroller_managerShutting down the controller manager. + 10.47sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOvideo_server2026/11/03 23:07:08 INF [WebRTC] closing ×2 + 10.47sINFOvideo_server2026/11/03 23:07:08 INF [RTSP] closing ×2 + 10.47sINFOvideo_server2026/11/03 23:07:08 INF waiting for running hooks ×2 + 10.47sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.47sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.47sERRORmove_groupStack trace (most recent call last) in thread 8864: ×2 + 10.47sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.47sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.47sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.47sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.47sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.47sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.47sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.47sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.47sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.47sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.47sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f18699b4cc3, in __clone ×2 + 10.48sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1869927b83, in ×2 + 10.48sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.48sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1869bb8db3, in ×2 + 10.48sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f186a322e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.48sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1869f4c620, in rclcpp::Rate::sleep() ×2 + 10.48sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1869e8ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.48sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1869e50087, in ×2 + 10.48sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1869b87390, in __cxa_throw ×2 + 10.48sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1869b71a54, in std::terminate() ×2 + 10.48sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.48sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1869b870d9, in ×2 + 10.48sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1869b71ff4, in ×2 + 10.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f18698b38fe, in abort ×2 + 10.48sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f18698d027d, in raise ×2 + 10.48sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1869929c0c, in pthread_kill ×2 + 10.48sERRORmove_groupAborted (Signal sent by tkill() 8370 0) ×2 + 10.49sERRORmove_group-9process has died [pid 8370, 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_rg1_tnzh --params-file /tmp/launch_params_qq4rxhbf --params-file /tmp/launch_params_rctoanby --params-file /tmp/launch_params_otc2njqy --params-file /tmp/launch_params_3zb0o6so --params-file /tmp/launch_params_t6hxo8js']. ×2 + 10.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.68sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.68sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.44sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.44sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.44sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.44sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.44sINFOjoint_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 + 11.44sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.44sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.44sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.44sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.44sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.44sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.44sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.44sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.44sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.44sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.44sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.44sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.44sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.44sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.44sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.44sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.44sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.44sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.44sINFOtf_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 + 11.44sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.44sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.44sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.44sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.44sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.44sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.44sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.44sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.44sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.44sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.44sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.44sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.44sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.44sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.44sINFOtf_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 + 11.45sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8460] ×2 + 11.45sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.49sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8374] ×2 + 11.49sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8373] ×2 + 11.53sINFOparameter_manager_node-10process has finished cleanly [pid 8371] ×2 + 11.54sERRORjoint_state_visualization_relay-21process has died [pid 8459, 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_5cvd71xz']. ×2 + 11.54sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.54sINFOwaypoint_manager_node-11process has finished cleanly [pid 8372] ×2 + 11.54sERRORtf_visualization_relay-20process has died [pid 8458, 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_ar8hf63t']. ×2 + 11.54sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.55sINFOui_teleop_bridge-18process has finished cleanly [pid 8379] ×2 + 11.56sINFOexecute_objective_bridge-17process has finished cleanly [pid 8378] ×2 + 11.59sINFOcomponent_container_mt-16process has finished cleanly [pid 8377] ×2 + 11.64sINFOobjective_server_node[0;m[2026-11-03 23:07:09.980] [moveit_pro_license] [info] ×2 + 11.64sINFOobjective_server_node************************************************* ×4 + 11.64sINFOobjective_server_node* MoveIt Pro License ×2 + 11.64sINFOobjective_server_node* Application has successfully terminated ×2 + 11.94sINFOobjective_server_node_main-14process has finished cleanly [pid 8375] ×2 + 11.95sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.62sINFOcomponent_container_mt-15process has finished cleanly [pid 8376] ×2 + 12.81sINFOweb_bridge-19process has finished cleanly [pid 8380] ×2 + 12.81sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.16sINFOros2_control_node-1process has finished cleanly [pid 8333] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 3 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 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 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.72sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×4 + 6.22sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.23sINFOros2_control_node[2026-11-03 23:01:50.597] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-11-03 23:01:50.597] [info] Accepted new action goal ×2 + 9.88sINFOros2_control_node[2026-11-03 23:01:54.247] [info] Received new action goal ×2 + 9.88sINFOros2_control_node[2026-11-03 23:01:54.247] [info] Accepted new action goal ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.22sINFOros2_control_node[2026-11-03 23:01:57.587] [info] Received new action goal ×2 + 13.22sINFOros2_control_node[2026-11-03 23:01:57.587] [info] Accepted new action goal ×2 + 14.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.08sINFOros2_control_node[2026-11-03 23:01:58.442] [info] Got request to cancel active goal. ×2 + 14.08sINFOros2_control_node[2026-11-03 23:01:58.442] [info] Canceling active goal... ×2 + 14.10sERRORobjective_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: 1793746918.45964408 seconds ×3 + 14.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.63sINFOobjective_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: ""
+ 14.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793746919.09704065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 14.99sINFOros2_control_node[2026-11-03 23:01:59.351] [info] Received new action goal ×2 + 14.99sINFOros2_control_node[2026-11-03 23:01:59.351] [info] Accepted new action goal ×2 + 17.25sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 17.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.26sINFOros2_control_node[2026-11-03 23:02:01.622] [info] Received new action goal ×2 + 17.26sINFOros2_control_node[2026-11-03 23:02:01.622] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 14 warnings · 214 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793746960.36964417 seconds ×3 + 0.30sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793746964.02185321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 4.16sINFOros2_control_node[2026-11-03 23:02:44.226] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-11-03 23:02:44.226] [info] Accepted new action goal ×2 + 5.16sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587823 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587823 ms (missed cycles : 5).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759376 ms (missed cycles : 6). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759376 ms (missed cycles : 6).[0m ×2 + 7.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.81sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 5 iterations (0.00750364 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 8.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041806 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041806 ms (missed cycles : 2).[0m ×2 + 8.90sWARNros2_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_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.13sINFOros2_control_node[2026-11-03 23:02:49.201] [info] Received new action goal ×2 + 9.13sINFOros2_control_node[2026-11-03 23:02:49.201] [info] Accepted new action goal ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 11.66sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.67sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 11.67sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.69sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 11.81sINFOobjective_server_nodeFound path in 1 iterations (0.0049222 s). ×2 + 11.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.07sINFOros2_control_node[2026-11-03 23:02:52.139] [info] Received new action goal ×2 + 12.07sINFOros2_control_node[2026-11-03 23:02:52.139] [info] Accepted new action goal ×2 + 12.50sINFOros2_control_node[2026-11-03 23:02:52.571] [info] Received new action goal ×2 + 12.50sINFOros2_control_node[2026-11-03 23:02:52.571] [info] Accepted new action goal ×2 + 14.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.27sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.27sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.32sERRORobjective_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: 1793746974.38754272 seconds ×3 + 14.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.99sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 15.11sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793746975.18341660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.14sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 16.15sINFOros2_control_node[2026-11-03 23:02:56.218] [info] Received new action goal ×2 + 16.15sINFOros2_control_node[2026-11-03 23:02:56.218] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 22 warnings · 204 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:01:57.587] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:01:57.587] [info] Accepted new action goal ×2 + 0.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.98sINFOros2_control_node[2026-11-03 23:01:58.442] [info] Got request to cancel active goal. ×2 + 0.98sINFOros2_control_node[2026-11-03 23:01:58.442] [info] Canceling active goal... ×2 + 1.00sERRORobjective_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: 1793746918.45964408 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 1.01sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 1.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793746919.09704065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.89sINFOros2_control_node[2026-11-03 23:01:59.351] [info] Received new action goal ×2 + 1.89sINFOros2_control_node[2026-11-03 23:01:59.351] [info] Accepted new action goal ×2 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.16sINFOros2_control_node[2026-11-03 23:02:01.622] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-11-03 23:02:01.622] [info] Accepted new action goal ×2 + 8.13sWARNros2_control_nodeCamera render tick took 1.38 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 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.281116 ms (missed cycles : 5). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.281116 ms (missed cycles : 5).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054044 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054044 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2).[0m ×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: 1793746929.44765949 seconds ×3 + 12.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 12.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793746930.06774259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793746930.19791150 seconds ×3 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3).[0m ×2 + 13.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.38sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793746930.90231156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.62sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 13.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.63sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Received new action goal ×2 + 13.63sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Accepted new action goal ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 3 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 14.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.19sERRORobjective_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: 1793747139.35009503 seconds ×3 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793747139.98701525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 15.14sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.15sINFOros2_control_node[2026-11-03 23:05:40.305] [info] Received new action goal ×2 + 15.15sINFOros2_control_node[2026-11-03 23:05:40.305] [info] Accepted new action goal ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773334 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773334 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 14 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.83sINFOobjective_server_nodename: "" ×4 + 2.83sINFOobjective_server_nodeinstance_id: "" ×4 + 2.83sINFOobjective_server_node ×4 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.56sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.82sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (1.84e-07 s). ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149122 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149122 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 7.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.02sINFOobjective_server_nodeFound path in 5 iterations (0.00669564 s). ×2 + 7.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.72sINFOros2_control_node[2026-11-03 23:02:37.806] [info] Received new action goal ×2 + 7.72sINFOros2_control_node[2026-11-03 23:02:37.806] [info] Accepted new action goal ×2 + 9.98sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.25sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.25sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.25sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793746960.36964417 seconds ×3 + 10.28sINFOobjective_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 + 13.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.94sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793746964.02185321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 14.14sINFOros2_control_node[2026-11-03 23:02:44.226] [info] Received new action goal ×2 + 14.14sINFOros2_control_node[2026-11-03 23:02:44.226] [info] Accepted new action goal ×2 + 15.14sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587823 ms (missed cycles : 5). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587823 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793747149.89845824 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793747150.52753711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-11-03 23:05:50.651] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-11-03 23:05:50.651] [info] Accepted new action goal ×2 + 2.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 10.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.95sERRORobjective_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: 1793747160.84784245 seconds ×3 + 11.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.49sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.56sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793747161.45594430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.69sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 11.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.71sINFOros2_control_node[2026-11-03 23:06:01.611] [info] Received new action goal ×2 + 11.71sINFOros2_control_node[2026-11-03 23:06:01.611] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 3 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793746940.65252471 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.17sINFOobjective_server_nodecaller: ×6 + 2.17sINFOobjective_server_nodetype: 0 ×6 + 2.17sINFOobjective_server_nodename: "" ×6 + 2.17sINFOobjective_server_nodeinstance_id: "" ×6 + 2.17sINFOobjective_server_node ×6 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793746941.28110552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793746941.37126851 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793746942.02360368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Accepted new action goal ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.48sINFOros2_control_node[2026-11-03 23:02:25.498] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-11-03 23:02:25.498] [info] Accepted new action goal ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 8.82sINFOros2_control_node[2026-11-03 23:02:27.835] [info] Received new action goal ×2 + 8.82sINFOros2_control_node[2026-11-03 23:02:27.835] [info] Accepted new action goal ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 11.17sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 11.17sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 13.33sINFOobjective_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 + 13.33sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 13.33sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 13.33sERRORobjective_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: 1793746952.34702158 seconds ×3 + 13.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.90sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 14.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.20sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 14.20sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 3 errors · 12 warnings · 390 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.42sINFOobjective_server_nodecaller: ×12 + 1.42sINFOobjective_server_nodetype: 0 ×12 + 1.42sINFOobjective_server_nodename: "" ×12 + 1.42sINFOobjective_server_nodeinstance_id: "" ×12 + 1.42sINFOobjective_server_node ×12 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×2 + 6.48sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.48sINFOros2_control_node[2026-11-03 23:06:51.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-11-03 23:06:51.709] [info] Accepted new action goal ×2 + 6.48sINFOros2_control_node[2026-11-03 23:06:51.709] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 13.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.12sINFOros2_control_node[2026-11-03 23:06:58.344] [info] Got request to cancel active goal. ×2 + 13.12sINFOros2_control_node[2026-11-03 23:06:58.344] [info] Canceling active goal... ×2 + 13.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793747218.35021687 seconds ×3 + 13.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793747218.95522857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2).[0m ×2 + 14.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793747220.06540895 seconds ×3 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4).[0m ×2 + 15.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.38sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.44sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793747220.66955256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.44sINFOobjective_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 + 15.44sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.44sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793747220.67147446 seconds ×3 + 15.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.98sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793747221.27189946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793747221.30283093 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 18 warnings · 2340 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×357 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×357 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×714 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×714 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793747117.50120616 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.96sINFOobjective_server_nodecaller: ×4 + 3.96sINFOobjective_server_nodetype: 0 ×4 + 3.96sINFOobjective_server_nodename: "" ×4 + 3.96sINFOobjective_server_nodeinstance_id: "" ×4 + 3.96sINFOobjective_server_node ×4 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793747118.23543239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096339 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096339 ms (missed cycles : 2).[0m ×2 + 7.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.92sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 1 iterations (0.00552014 s). ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673298 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673298 ms (missed cycles : 2).[0m ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.66sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.68sINFOros2_control_node[2026-11-03 23:05:22.853] [info] Received new action goal ×2 + 8.68sINFOros2_control_node[2026-11-03 23:05:22.853] [info] Accepted new action goal ×2 + 10.98sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 10.98sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 12.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.63sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 12.63sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 13.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 14.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 15.03sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 15.03sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 16.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 3 warnings · 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 + 0.01sERRORobjective_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: 1793747139.35009503 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.58sINFOobjective_server_nodecaller: ×4 + 0.58sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_node ×4 + 0.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793747139.98701525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.96sINFOros2_control_node[2026-11-03 23:05:40.305] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-11-03 23:05:40.305] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773334 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773334 ms (missed cycles : 2).[0m ×2 + 4.97sINFOros2_control_node[2026-11-03 23:05:44.314] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-11-03 23:05:44.314] [info] Accepted new action goal ×2 + 5.89sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793747149.89845824 seconds ×3 + 11.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.10sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.19sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793747150.52753711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.31sINFOros2_control_node[2026-11-03 23:05:50.651] [info] Received new action goal ×2 + 11.31sINFOros2_control_node[2026-11-03 23:05:50.651] [info] Accepted new action goal ×2 + 13.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Record Square Trajectory | record_square_trajectory.xml | 10.5s | 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 + 0.01sERRORobjective_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: 1793747160.84784245 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.55sINFOobjective_server_nodecaller: ×4 + 0.55sINFOobjective_server_nodetype: 0 ×4 + 0.55sINFOobjective_server_nodename: "" ×4 + 0.55sINFOobjective_server_nodeinstance_id: "" ×4 + 0.55sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793747161.45594430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.77sINFOros2_control_node[2026-11-03 23:06:01.611] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-11-03 23:06:01.611] [info] Accepted new action goal ×2 + 5.10sINFOros2_control_node[2026-11-03 23:06:05.943] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-11-03 23:06:05.943] [info] Accepted new action goal ×2 + 7.12sINFOros2_control_node[2026-11-03 23:06:07.964] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-11-03 23:06:07.964] [info] Accepted new action goal ×2 + 7.62sINFOros2_control_node[2026-11-03 23:06:08.465] [info] Received new action goal ×2 + 7.62sINFOros2_control_node[2026-11-03 23:06:08.465] [info] Accepted new action goal ×2 + 9.70sINFOros2_control_node[2026-11-03 23:06:10.537] [info] Received new action goal ×2 + 9.70sINFOros2_control_node[2026-11-03 23:06:10.537] [info] Accepted new action goal ×2 + 10.51sINFOobjective_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 + 10.51sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793747171.35153794 seconds ×3 + 11.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.05sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.19sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793747172.02755785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.20sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 12.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.22sINFOros2_control_node[2026-11-03 23:06:13.062] [info] Received new action goal ×2 + 12.22sINFOros2_control_node[2026-11-03 23:06:13.062] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.4s | 3 errors · 22 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_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 + 1.31sERRORobjective_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: 1793746929.44765949 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.86sINFOobjective_server_nodecaller: ×8 + 1.86sINFOobjective_server_nodetype: 0 ×8 + 1.86sINFOobjective_server_nodename: "" ×8 + 1.86sINFOobjective_server_nodeinstance_id: "" ×8 + 1.86sINFOobjective_server_node ×8 + 1.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793746930.06774259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793746930.19791150 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793746930.90231156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.95sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 2.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670958 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670958 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 6.92sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.04sINFOobjective_server_nodeFound path in 1 iterations (0.0032267 s). ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.27sINFOros2_control_node[2026-11-03 23:02:15.411] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-11-03 23:02:15.411] [info] Accepted new action goal ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588595 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588595 ms (missed cycles : 3).[0m ×2 + 7.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.58sINFOros2_control_node[2026-11-03 23:02:17.713] [info] Received new action goal ×2 + 9.58sINFOros2_control_node[2026-11-03 23:02:17.713] [info] Accepted new action goal ×2 + 11.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.22sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Accepted new action goal ×2 + 12.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793746940.65252471 seconds ×3 + 13.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.05sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793746941.28110552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.23sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793746941.37126851 seconds ×3 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 13.88sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793746942.02360368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.99sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 14.00sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.01sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Received new action goal ×2 + 14.01sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 27 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824253 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824253 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793747005.89169812 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857178 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857178 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 1.98sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.98sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.98sINFOobjective_server_nodecaller: ×6 + 1.98sINFOobjective_server_nodetype: 0 ×6 + 1.98sINFOobjective_server_nodename: "" ×6 + 1.98sINFOobjective_server_nodeinstance_id: "" ×6 + 1.98sINFOobjective_server_node ×6 + 2.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793747006.49369359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793747006.56387138 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785462 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785462 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.92sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.04sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.60sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793747011.14490795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.78sINFOobjective_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 + 6.79sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.11sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Accepted new action goal ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 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 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [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: 1793747218.35021687 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793747218.95522857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793747220.06540895 seconds ×3 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793747220.66955256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.33sINFOobjective_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 + 2.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793747220.67147446 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793747221.27189946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793747221.30283093 seconds ×3 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793747222.00144172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049625 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049625 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793747223.03164053 seconds ×3 + 4.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437129 ms (missed cycles : 3). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.39sINFOobjective_server_nodecaller: ×14 + 1.39sINFOobjective_server_nodetype: 0 ×14 + 1.39sINFOobjective_server_nodename: "" ×14 + 1.39sINFOobjective_server_nodeinstance_id: "" ×14 + 1.39sINFOobjective_server_node ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 3.83sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.42sINFOobjective_server_nodeinstance_id: "" ×6 + 1.42sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054044 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_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 + 2.61sERRORobjective_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: 1793746929.44765949 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.16sINFOobjective_server_nodecaller: ×4 + 3.16sINFOobjective_server_nodetype: 0 ×4 + 3.16sINFOobjective_server_nodename: "" ×4 + 3.16sINFOobjective_server_nodeinstance_id: "" ×4 + 3.16sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793746930.06774259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793746930.19791150 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793746930.90231156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 125 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:02:17.713] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:02:17.713] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793746940.65252471 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793746941.28110552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793746941.37126851 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793746942.02360368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.43sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 18 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824253 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824253 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793747005.89169812 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857178 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857178 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 1.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.98sINFOobjective_server_nodecaller: ×4 + 1.98sINFOobjective_server_nodetype: 0 ×4 + 1.98sINFOobjective_server_nodename: "" ×4 + 1.98sINFOobjective_server_nodeinstance_id: "" ×4 + 1.98sINFOobjective_server_node ×4 + 2.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793747006.49369359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793747006.56387138 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785462 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785462 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.92sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.04sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.39sINFOobjective_server_nodecaller: ×14 + 1.39sINFOobjective_server_nodetype: 0 ×14 + 1.39sINFOobjective_server_nodename: "" ×14 + 1.39sINFOobjective_server_nodeinstance_id: "" ×14 + 1.39sINFOobjective_server_node ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 3.83sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 18 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 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [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: 1793747218.35021687 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793747218.95522857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793747220.06540895 seconds ×3 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793747220.66955256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.33sINFOobjective_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 + 2.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793747220.67147446 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793747221.27189946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793747221.30283093 seconds ×3 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793747222.00144172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049625 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049625 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793747223.03164053 seconds ×3 + 4.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437129 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437129 ms (missed cycles : 3).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670729 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670729 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.42sINFOobjective_server_nodeinstance_id: "" ×6 + 1.42sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×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 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [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: 1793747218.35021687 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793747218.95522857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793747220.06540895 seconds ×3 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793747220.66955256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.33sINFOobjective_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 + 2.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793747220.67147446 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793747221.27189946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793747221.30283093 seconds ×3 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793747222.00144172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049625 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049625 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793747223.03164053 seconds ×3 + 4.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437129 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437129 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 12 warnings · 2230 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×357 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×357 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×714 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×714 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793747117.50120616 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793747118.23543239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054044 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_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 + 2.61sERRORobjective_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: 1793746929.44765949 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.16sINFOobjective_server_nodecaller: ×4 + 3.16sINFOobjective_server_nodetype: 0 ×4 + 3.16sINFOobjective_server_nodename: "" ×4 + 3.16sINFOobjective_server_nodeinstance_id: "" ×4 + 3.16sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793746930.06774259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793746930.19791150 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793746930.90231156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054044 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_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 + 2.61sERRORobjective_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: 1793746929.44765949 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.16sINFOobjective_server_nodecaller: ×4 + 3.16sINFOobjective_server_nodetype: 0 ×4 + 3.16sINFOobjective_server_nodename: "" ×4 + 3.16sINFOobjective_server_nodeinstance_id: "" ×4 + 3.16sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793746930.06774259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793746930.19791150 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793746930.90231156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_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 + 1.31sERRORobjective_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: 1793746929.44765949 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793746930.06774259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793746930.19791150 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793746930.90231156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.95sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 2.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_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 + 1.31sERRORobjective_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: 1793746929.44765949 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793746930.06774259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793746930.19791150 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793746930.90231156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.95sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 2.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_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 + 1.31sERRORobjective_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: 1793746929.44765949 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793746930.06774259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793746930.19791150 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793746930.90231156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.95sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 2.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377767 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139548 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_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 + 1.31sERRORobjective_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: 1793746929.44765949 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793746930.06774259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793746930.19791150 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026663 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793746930.90231156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.95sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 2.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-11-03 23:02:11.096] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987162 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793746940.65252471 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793746941.28110552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793746941.37126851 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793746942.02360368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793746940.65252471 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793746941.28110552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793746941.37126851 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793746942.02360368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Accepted new action goal ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793746940.65252471 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793746941.28110552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793746941.37126851 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793746942.02360368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Accepted new action goal ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793746940.65252471 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793746941.28110552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793746941.37126851 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793746942.02360368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Accepted new action goal ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-11-03 23:02:19.356] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793746940.65252471 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793746941.28110552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793746941.37126851 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793746942.02360368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:22.148] [info] Accepted new action goal ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:02:30.185] [info] Accepted new action goal ×2 + 2.26sINFOobjective_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 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-11-03 23:02:32.343] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1793746952.34702158 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793746952.99776983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-03 23:02:33.212] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 100 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.0049222 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOros2_control_node[2026-11-03 23:02:52.139] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-11-03 23:02:52.139] [info] Accepted new action goal ×2 + 0.84sINFOros2_control_node[2026-11-03 23:02:52.571] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-11-03 23:02:52.571] [info] Accepted new action goal ×2 + 2.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sINFOobjective_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 + 2.61sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.61sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.61sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.61sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.66sERRORobjective_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: 1793746974.38754272 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793746975.18341660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.49sINFOros2_control_node[2026-11-03 23:02:56.218] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-11-03 23:02:56.218] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 15 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824253 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824253 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793747005.89169812 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857178 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857178 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 1.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.98sINFOobjective_server_nodecaller: ×4 + 1.98sINFOobjective_server_nodetype: 0 ×4 + 1.98sINFOobjective_server_nodename: "" ×4 + 1.98sINFOobjective_server_nodeinstance_id: "" ×4 + 1.98sINFOobjective_server_node ×4 + 2.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793747006.49369359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793747006.56387138 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785462 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785462 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.92sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.04sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793747011.14490795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793747011.14490795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793747011.14490795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793747011.14490795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793747011.14490795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793747011.14490795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793747007.36577010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-03 23:03:27.490] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835806 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793747009.49596214 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804593 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712640 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793747011.14490795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-03 23:03:31.563] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696390 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 3 warnings · 630 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793747064.87342191 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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: 1793747065.49452519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.79sINFOros2_control_node[2026-11-03 23:04:25.658] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-11-03 23:04:25.658] [info] Accepted new action goal ×2 + 2.05sINFOobjective_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 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287768 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287768 ms (missed cycles : 2).[0m ×2 + 2.87sINFOjoint_trajectory_controllerReceived new action goal ×91 + 2.87sINFOjoint_trajectory_controllerAccepted new action goal ×91 + 2.87sINFOros2_control_nodeReceived new action goal[0m ×182 + 2.87sINFOros2_control_nodeAccepted new action goal[0m ×182 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 12 warnings · 2230 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×357 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×357 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×714 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×714 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793747117.50120616 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793747118.23543239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 12 warnings · 2230 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×357 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×357 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×714 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×714 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793747117.50120616 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793747118.23543239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 12 warnings · 2230 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×357 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×357 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×714 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×714 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793747117.50120616 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793747118.23543239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 12 warnings · 2230 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×357 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×357 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×714 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×714 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624879 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400724 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724821 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793747117.50120616 seconds ×3 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793747118.23543239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-11-03 23:05:18.450] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218489 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:05:25.154] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:05:26.809] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793747128.10566306 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793747129.00934672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-03 23:05:29.204] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 3 warnings · 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 + 0.01sERRORobjective_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: 1793747139.35009503 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.58sINFOobjective_server_nodecaller: ×2 + 0.58sINFOobjective_server_nodetype: 0 ×2 + 0.58sINFOobjective_server_nodename: "" ×2 + 0.58sINFOobjective_server_nodeinstance_id: "" ×2 + 0.58sINFOobjective_server_node ×2 + 0.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793747139.98701525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.96sINFOros2_control_node[2026-11-03 23:05:40.305] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-11-03 23:05:40.305] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773334 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773334 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793747149.89845824 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793747150.52753711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-11-03 23:05:50.651] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-11-03 23:05:50.651] [info] Accepted new action goal ×2 + 2.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 warnings · 190 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.42sINFOobjective_server_nodeinstance_id: "" ×6 + 1.42sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 warnings · 190 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.42sINFOobjective_server_nodeinstance_id: "" ×6 + 1.42sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 warnings · 190 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.42sINFOobjective_server_nodeinstance_id: "" ×6 + 1.42sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.42sINFOobjective_server_nodeinstance_id: "" ×6 + 1.42sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.42sINFOobjective_server_nodeinstance_id: "" ×6 + 1.42sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.42sINFOobjective_server_nodeinstance_id: "" ×6 + 1.42sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793747206.00935292 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.42sINFOobjective_server_nodeinstance_id: "" ×6 + 1.42sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793747206.89764190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696155 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793747206.94782805 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793747207.54546309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793747207.56711006 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793747208.27466273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:06:48.388] [info] Accepted new action goal ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 9 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [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: 1793747218.35021687 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_nodecaller: ×6 + 0.55sINFOobjective_server_nodetype: 0 ×6 + 0.55sINFOobjective_server_nodename: "" ×6 + 0.55sINFOobjective_server_nodeinstance_id: "" ×6 + 0.55sINFOobjective_server_node ×6 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793747218.95522857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793747220.06540895 seconds ×3 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793747220.66955256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.33sINFOobjective_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 + 2.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793747220.67147446 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793747221.27189946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793747221.30283093 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 9 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:06:58.344] [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: 1793747218.35021687 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_nodecaller: ×6 + 0.55sINFOobjective_server_nodetype: 0 ×6 + 0.55sINFOobjective_server_nodename: "" ×6 + 0.55sINFOobjective_server_nodeinstance_id: "" ×6 + 0.55sINFOobjective_server_node ×6 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793747218.95522857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569288 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793747220.06540895 seconds ×3 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620717 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793747220.66955256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.33sINFOobjective_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 + 2.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793747220.67147446 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793747221.27189946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793747221.30283093 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [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 | 12.3s | 26 warnings · 767 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-11-03-23-01-30-531568-8b4149b027bb-8285 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.70sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.71sINFOcontroller_managerupdate rate is 600 Hz + 0.71sINFOcontroller_managerOverruns handling is : enabled + 0.71sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.71sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386195 ms (missed cycles : 3). + 0.89sINFOros2_control_node-1process started with pid [8333] ×2 + 0.89sINFOmove_group-9process started with pid [8370] ×2 + 0.89sINFOparameter_manager_node-10process started with pid [8371] ×2 + 0.89sINFOwaypoint_manager_node-11process started with pid [8372] ×2 + 0.89sINFOmove_joint_resampler_node-12process started with pid [8373] ×2 + 0.89sINFOmove_end_effector_resampler_node-13process started with pid [8374] ×2 + 0.89sINFOobjective_server_node_main-14process started with pid [8375] ×2 + 0.89sINFOcomponent_container_mt-15process started with pid [8376] ×2 + 0.89sINFOcomponent_container_mt-16process started with pid [8377] ×2 + 0.89sINFOexecute_objective_bridge-17process started with pid [8378] ×2 + 0.89sINFOui_teleop_bridge-18process started with pid [8379] ×2 + 0.89sINFOweb_bridge-19process started with pid [8380] ×2 + 0.89sINFOtf_visualization_relay-20process started with pid [8458] ×2 + 0.89sINFOjoint_state_visualization_relay-21process started with pid [8459] ×2 + 0.89sINFOtf2_web_republisher_node-22process started with pid [8460] ×2 + 0.90sINFOvideo_server-23process started with pid [8461] ×2 + 0.90sINFOweb_bridge_auth_proxy-24process started with pid [8462] ×2 + 0.90sINFOweb_video_auth_proxy-25process started with pid [8463] ×2 + 0.90sINFOros2-2process started with pid [8334] ×2 + 0.90sINFOros2-3process started with pid [8335] ×2 + 0.90sINFOros2-4process started with pid [8336] ×2 + 0.90sINFOros2-5process started with pid [8337] ×2 + 0.90sINFOros2-6process started with pid [8338] ×2 + 0.90sINFOros2-7process started with pid [8339] ×2 + 0.90sINFOros2-8process started with pid [8340] ×2 + 0.91sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.91sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.91sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.91sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.91sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.91sWARNros2_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 + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386195 ms (missed cycles : 3).[0m ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.00sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.00sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.12sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.32sINFOvideo_server2026/11/03 23:01:32 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.32sINFOvideo_server2026/11/03 23:01:32 INF configuration loaded from /tmp/moveit-webrtc-67ugq20f/mediamtx.yml ×2 + 1.32sINFOvideo_server2026/11/03 23:01:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.32sINFOvideo_server2026/11/03 23:01:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.56sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-11-03 23:01:32.723] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.92sINFOweb_video_auth_proxy2026-11-03 23:01:32,802 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.92sINFOweb_video_auth_proxy2026-11-03 23:01:32,805 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.93sINFOweb_bridge_auth_proxy2026-11-03 23:01:32,808 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.25sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.25sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.25sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.25sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.25sINFOwaypoint_manager_node[2026-11-03 23:01:33.135] [moveit_pro_license] [info] ×2 + 2.25sINFOwaypoint_manager_node************************************************* ×4 + 2.25sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.25sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.27sINFOmove_group ×4 + 2.27sINFOmove_group[92mYou can start planning now![0m ×2 + 2.27sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.27sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985824 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985824 ms (missed cycles : 4).[0m ×2 + 2.36sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.30sINFOobjective_server_node[2026-11-03 23:01:34.182] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.44sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.44sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.46sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.58sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.58sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.29sINFOcomponent_container_mt[2026-11-03 23:01:35.170] [moveit_pro_license] [info] ×2 + 4.29sINFOcomponent_container_mt************************************************* ×4 + 4.29sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.29sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.32sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.32sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 4.32sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.32sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.32sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.32sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.32sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.32sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.32sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.32sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.32sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.32sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.32sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.32sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.32sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.32sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.32sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.32sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.32sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.32sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.32sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.32sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.32sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.32sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv + 4.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv [0m ×2 + 4.58sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.58sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.58sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.58sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.59sINFOforce_torque_sensor_broadcasterconfigure successful + 4.59sINFOros2_control_nodeconfigure successful[0m ×2 + 4.59sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.59sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.59sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.90sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.90sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.92sINFOros2-2process has finished cleanly [pid 8334] ×2 + 5.01sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv + 5.01sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv [0m ×2 + 5.04sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.04sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.04sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.04sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.04sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 5.04sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.04sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 5.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.07sINFOros2_control_node[2026-11-03 23:01:35.953] [info] Controller state will be published at 20 Hz. ×2 + 5.07sINFOros2_control_node[2026-11-03 23:01:35.954] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708863 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708863 ms (missed cycles : 2).[0m ×2 + 5.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv + 5.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv [0m ×2 + 5.41sINFOros2-8process has finished cleanly [pid 8340] ×2 + 5.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.46sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.73sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.73sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.73sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.74sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv + 5.74sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv [0m ×2 + 5.77sINFOros2-5process has finished cleanly [pid 8337] ×2 + 5.79sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.79sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.79sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.79sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.79sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.79sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.80sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.81sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.81sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.10sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.12sINFOros2-4process has finished cleanly [pid 8336] ×2 + 6.18sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv + 6.18sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv [0m ×2 + 6.23sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.23sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.23sINFOros2_control_node[2026-11-03 23:01:37.111] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.23sINFOros2_control_node[2026-11-03 23:01:37.111] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.26sINFOros2_control_node[2026-11-03 23:01:37.138] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.26sINFOros2_control_node[2026-11-03 23:01:37.138] [info] Controller state will be published at 50 Hz. ×2 + 6.26sINFOros2_control_node[2026-11-03 23:01:37.146] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.61sINFOros2-6process has finished cleanly [pid 8338] ×2 + 6.65sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv + 6.65sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv [0m ×2 + 6.69sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.69sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.69sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.75sINFOros2_control_node[2026-11-03 23:01:37.634] [info] Controller state will be published at 10 Hz. ×2 + 6.75sINFOros2_control_node[2026-11-03 23:01:37.635] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.05sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.05sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.05sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.05sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv + 7.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__xn_m9rj --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_f36dmrf2 --params-file /tmp/launch_params_szrc2biv [0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912064 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912064 ms (missed cycles : 2).[0m ×2 + 7.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.09sINFOros2-7process has finished cleanly [pid 8339] ×2 + 7.10sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.10sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.10sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.10sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.10sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.11sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.11sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.43sINFOros2-3process has finished cleanly [pid 8335] ×2 + 10.52sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 11.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 11.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 11.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 11.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 11.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 11.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 11.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 11.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 11.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 11.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 11.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 11.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 11.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 11.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 11.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 11.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 11.91sINFOobjective_server_nodecaller: ×10 + 11.91sINFOobjective_server_nodetype: 0 ×10 + 11.91sINFOobjective_server_nodename: "" ×10 + 11.91sINFOobjective_server_nodeinstance_id: "" ×10 + 11.91sINFOobjective_server_node ×10 + 11.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 12.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.51sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 14.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 14.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 14.34sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 14.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 15.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 warnings · 386 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 2.44sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-03 23:01:48.079] [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 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 3.09sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 + 7.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 192 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/2026-11-03-23-01-30-531568-8b4149b027bb-8285 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.70sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.71sINFOcontroller_managerupdate rate is 600 Hz + 0.71sINFOcontroller_managerOverruns handling is : enabled + 0.71sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.71sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386195 ms (missed cycles : 3). + 0.89sINFOros2_control_node-1process started with pid [8333] ×2 + 0.89sINFOmove_group-9process started with pid [8370] ×2 + 0.89sINFOparameter_manager_node-10process started with pid [8371] ×2 + 0.89sINFOwaypoint_manager_node-11process started with pid [8372] ×2 + 0.89sINFOmove_joint_resampler_node-12process started with pid [8373] ×2 + 0.89sINFOmove_end_effector_resampler_node-13process started with pid [8374] ×2 + 0.89sINFOobjective_server_node_main-14process started with pid [8375] ×2 + 0.89sINFOcomponent_container_mt-15process started with pid [8376] ×2 + 0.89sINFOcomponent_container_mt-16process started with pid [8377] ×2 + 0.89sINFOexecute_objective_bridge-17process started with pid [8378] ×2 + 0.89sINFOui_teleop_bridge-18process started with pid [8379] ×2 + 0.89sINFOweb_bridge-19process started with pid [8380] ×2 + 0.89sINFOtf_visualization_relay-20process started with pid [8458] ×2 + 0.89sINFOjoint_state_visualization_relay-21process started with pid [8459] ×2 + 0.89sINFOtf2_web_republisher_node-22process started with pid [8460] ×2 + 0.90sINFOvideo_server-23process started with pid [8461] ×2 + 0.90sINFOweb_bridge_auth_proxy-24process started with pid [8462] ×2 + 0.90sINFOweb_video_auth_proxy-25process started with pid [8463] ×2 + 0.90sINFOros2-2process started with pid [8334] ×2 + 0.90sINFOros2-3process started with pid [8335] ×2 + 0.90sINFOros2-4process started with pid [8336] ×2 + 0.90sINFOros2-5process started with pid [8337] ×2 + 0.90sINFOros2-6process started with pid [8338] ×2 + 0.90sINFOros2-7process started with pid [8339] ×2 + 0.90sINFOros2-8process started with pid [8340] ×2 + 0.91sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.91sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.91sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.91sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.91sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.91sWARNros2_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 + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386195 ms (missed cycles : 3).[0m ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.00sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.00sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.12sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.32sINFOvideo_server2026/11/03 23:01:32 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.32sINFOvideo_server2026/11/03 23:01:32 INF configuration loaded from /tmp/moveit-webrtc-67ugq20f/mediamtx.yml ×2 + 1.32sINFOvideo_server2026/11/03 23:01:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.32sINFOvideo_server2026/11/03 23:01:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.56sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-11-03 23:01:32.723] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.92sINFOweb_video_auth_proxy2026-11-03 23:01:32,802 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.92sINFOweb_video_auth_proxy2026-11-03 23:01:32,805 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.93sINFOweb_bridge_auth_proxy2026-11-03 23:01:32,808 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.25sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.25sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.25sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.25sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.25sINFOwaypoint_manager_node[2026-11-03 23:01:33.135] [moveit_pro_license] [info] ×2 + 2.25sINFOwaypoint_manager_node************************************************* ×4 + 2.25sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.25sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.27sINFOmove_group ×4 + 2.27sINFOmove_group[92mYou can start planning now![0m ×2 + 2.27sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.27sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985824 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985824 ms (missed cycles : 4).[0m ×2 + 2.36sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.30sINFOobjective_server_node[2026-11-03 23:01:34.182] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.44sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.44sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.46sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.58sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.58sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.39sINFOobjective_server_nodecaller: ×14 + 1.39sINFOobjective_server_nodetype: 0 ×14 + 1.39sINFOobjective_server_nodename: "" ×14 + 1.39sINFOobjective_server_nodeinstance_id: "" ×14 + 1.39sINFOobjective_server_node ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 3.83sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.39sINFOobjective_server_nodecaller: ×14 + 1.39sINFOobjective_server_nodetype: 0 ×14 + 1.39sINFOobjective_server_nodename: "" ×14 + 1.39sINFOobjective_server_nodeinstance_id: "" ×14 + 1.39sINFOobjective_server_node ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 3.83sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.39sINFOobjective_server_nodecaller: ×14 + 1.39sINFOobjective_server_nodetype: 0 ×14 + 1.39sINFOobjective_server_nodename: "" ×14 + 1.39sINFOobjective_server_nodeinstance_id: "" ×14 + 1.39sINFOobjective_server_node ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 3.83sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 3.09sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793746902.84867239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793746902.85891008 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 2.44sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [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 · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [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 · 328 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 + 7.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.14sINFOros2_control_node[2026-11-03 23:01:50.597] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-11-03 23:01:50.597] [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 · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [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 · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793746903.45369267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793746904.36385775 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793746904.98102975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793746905.04122543 seconds ×3 + 1.77sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793746905.70284629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793746905.72300673 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793746906.31377721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793746906.46437788 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793746907.15594578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643904 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793746907.20613980 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793746907.94229555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.241e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-11-03 23:01:48.079] [info] Accepted new action goal ×2 | ||||