MoveIt Pro Objective Integration Tests

136

Total objective tests

Objectives passed

Objectives failed

101

Objectives skipped

10.2s

Avg test time

100%

Objective pass rate

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

31 pass60 skip

✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	44.5s	117 warnings · 24354 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792812637.06398392 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 + 0.02sINFOros2_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 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792812637.67238688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.79sINFOros2_control_node[2026-10-24 03:30:37.856] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-10-24 03:30:37.856] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812899 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812899 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886601 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886601 ms (missed cycles : 2).[0m ×2 + 3.80sINFOjoint_trajectory_controllerReceived new action goal ×4015 + 3.80sINFOjoint_trajectory_controllerAccepted new action goal ×4015 + 3.80sINFOros2_control_nodeReceived new action goal[0m ×8030 + 3.80sINFOros2_control_nodeAccepted new action goal[0m ×8030 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684103 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684103 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796347 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796347 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908610 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908610 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755407 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755407 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449410 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449410 ms (missed cycles : 2).[0m ×2 + 9.13sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 9.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 9.13sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 9.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 9.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669245 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669245 ms (missed cycles : 2).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734531 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734531 ms (missed cycles : 2).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864007 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864007 ms (missed cycles : 2).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620131 ms (missed cycles : 3). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620131 ms (missed cycles : 3).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941030 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941030 ms (missed cycles : 2).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813161 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813161 ms (missed cycles : 2).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841872 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841872 ms (missed cycles : 2).[0m ×2 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218614 ms (missed cycles : 2). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218614 ms (missed cycles : 2).[0m ×2 + 18.28sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101109 ms (missed cycles : 2). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101109 ms (missed cycles : 2).[0m ×2 + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144715 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144715 ms (missed cycles : 2).[0m ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824565 ms (missed cycles : 2). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824565 ms (missed cycles : 2).[0m ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982343 ms (missed cycles : 2). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982343 ms (missed cycles : 2).[0m ×2 + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914748 ms (missed cycles : 2). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914748 ms (missed cycles : 2).[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891265 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891265 ms (missed cycles : 2).[0m ×2 + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138134 ms (missed cycles : 2). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138134 ms (missed cycles : 2).[0m ×2 + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686630 ms (missed cycles : 2). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686630 ms (missed cycles : 2).[0m ×2 + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667664 ms (missed cycles : 2). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667664 ms (missed cycles : 2).[0m ×2 + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814670 ms (missed cycles : 2). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814670 ms (missed cycles : 2).[0m ×2 + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831348 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831348 ms (missed cycles : 2).[0m ×2 + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171243 ms (missed cycles : 2). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171243 ms (missed cycles : 2).[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253743 ms (missed cycles : 2). + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253743 ms (missed cycles : 2).[0m ×2 + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755723 ms (missed cycles : 2). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755723 ms (missed cycles : 2).[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980604 ms (missed cycles : 2). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980604 ms (missed cycles : 2).[0m ×2 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666896 ms (missed cycles : 2). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666896 ms (missed cycles : 2).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060973 ms (missed cycles : 2). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060973 ms (missed cycles : 2).[0m ×2 + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675829 ms (missed cycles : 2). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675829 ms (missed cycles : 2).[0m ×2 + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423530 ms (missed cycles : 3). + 40.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423530 ms (missed cycles : 3).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547970 ms (missed cycles : 2). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547970 ms (missed cycles : 2).[0m ×2 + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958899 ms (missed cycles : 2). + 42.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958899 ms (missed cycles : 2).[0m ×2 + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470215 ms (missed cycles : 2). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470215 ms (missed cycles : 2).[0m ×2 + 44.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792812681.58193421 seconds ×3 + 44.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 45.06sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 45.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792812682.23096371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 45.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 45.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 45.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 45.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 45.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 45.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 45.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.32sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 45.33sINFOros2_control_node[2026-10-24 03:31:22.394] [info] Received new action goal ×2 + 45.33sINFOros2_control_node[2026-10-24 03:31:22.394] [info] Accepted new action goal ×2 + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085667 ms (missed cycles : 2). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085667 ms (missed cycles : 2).[0m ×2 + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300815 ms (missed cycles : 2). + 47.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300815 ms (missed cycles : 2).[0m ×2
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.8s	323 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792812583.29215240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.84sINFOobjective_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 + 3.85sINFOobjective_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 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Accepted new action goal ×2 + 7.02sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 7.04sINFOros2_control_node[2026-10-24 03:29:46.566] [info] Received new action goal ×2 + 7.04sINFOros2_control_node[2026-10-24 03:29:46.566] [info] Accepted new action goal ×2 + 10.20sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.21sINFOros2_control_node[2026-10-24 03:29:49.737] [info] Received new action goal ×2 + 10.21sINFOros2_control_node[2026-10-24 03:29:49.737] [info] Accepted new action goal ×2 + 13.18sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 13.19sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.24sINFOros2_control_node[2026-10-24 03:29:52.770] [info] Received new action goal ×2 + 13.24sINFOros2_control_node[2026-10-24 03:29:52.770] [info] Accepted new action goal ×2 + 15.82sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.21sINFOobjective_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 + 16.21sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.21sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.21sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.21sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 23.77sINFOobjective_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 + 23.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.77sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.77sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.77sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.77sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.63sINFOros2_control_node[2026-10-24 03:30:04.160] [info] Received new action goal ×2 + 24.63sINFOros2_control_node[2026-10-24 03:30:04.160] [info] Accepted new action goal ×2 + 25.82sINFOobjective_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 + 25.83sINFOobjective_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 + 26.11sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 26.16sINFOros2_control_node[2026-10-24 03:30:05.684] [info] Received new action goal ×2 + 26.16sINFOros2_control_node[2026-10-24 03:30:05.684] [info] Accepted new action goal ×2 + 28.43sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 28.43sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.44sINFOros2_control_node[2026-10-24 03:30:07.971] [info] Received new action goal ×2 + 28.44sINFOros2_control_node[2026-10-24 03:30:07.971] [info] Accepted new action goal ×2 + 31.46sINFOros2_control_node[2026-10-24 03:30:10.991] [info] Received new action goal ×2 + 31.46sINFOros2_control_node[2026-10-24 03:30:10.991] [info] Accepted new action goal ×2 + 34.05sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 34.06sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.11sINFOros2_control_node[2026-10-24 03:30:13.634] [info] Received new action goal ×2 + 34.11sINFOros2_control_node[2026-10-24 03:30:13.634] [info] Accepted new action goal ×2 + 44.79sINFOros2_control_node[2026-10-24 03:30:24.323] [info] Received new action goal ×2 + 44.79sINFOros2_control_node[2026-10-24 03:30:24.323] [info] Accepted new action goal ×2 + 45.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792812625.47908926 seconds ×3 + 46.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.52sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.73sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792812626.26186728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.75sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 47.77sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.78sINFOros2_control_node[2026-10-24 03:30:27.307] [info] Received new action goal ×2 + 47.78sINFOros2_control_node[2026-10-24 03:30:27.307] [info] Accepted new action goal ×2
✓ passed	Record Surface Coverage Demo	record_surface_coverage_demo.xml	35.0s	18 warnings · 307 info
+ 0.00sINFOros2_control_node[2026-10-24 03:32:35.003] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:32:35.003] [info] Accepted new action goal ×2 + 2.07sINFOros2_control_node[2026-10-24 03:32:37.074] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-10-24 03:32:37.074] [info] Accepted new action goal ×2 + 2.88sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 2.88sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1792812757.88813496 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.43sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.43sINFOobjective_server_nodecaller: ×8 + 3.43sINFOobjective_server_nodetype: 0 ×8 + 3.43sINFOobjective_server_nodename: "" ×8 + 3.43sINFOobjective_server_nodeinstance_id: "" ×8 + 3.43sINFOobjective_server_node ×8 + 3.54sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792812758.54629564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.58sINFOros2_control_node[2026-10-24 03:32:39.580] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-10-24 03:32:39.580] [info] Accepted new action goal ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530589 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530589 ms (missed cycles : 6).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950900 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950900 ms (missed cycles : 2).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612578 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612578 ms (missed cycles : 2).[0m ×2 + 9.65sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.67sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.71sINFOros2_control_node[2026-10-24 03:32:44.717] [info] Received new action goal ×2 + 9.71sINFOros2_control_node[2026-10-24 03:32:44.717] [info] Accepted new action goal ×2 + 19.52sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 19.52sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 19.53sINFOros2_control_node[2026-10-24 03:32:54.530] [info] Received new action goal ×2 + 19.53sINFOros2_control_node[2026-10-24 03:32:54.530] [info] Accepted new action goal ×2 + 20.35sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504398 ms (missed cycles : 6). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504398 ms (missed cycles : 6).[0m ×2 + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231629 ms (missed cycles : 3). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231629 ms (missed cycles : 3).[0m ×2 + 24.51sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.52sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.57sINFOros2_control_node[2026-10-24 03:32:59.571] [info] Received new action goal ×2 + 24.57sINFOros2_control_node[2026-10-24 03:32:59.572] [info] Accepted new action goal ×2 + 34.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 34.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.10sINFOros2_control_node[2026-10-24 03:33:09.106] [info] Received new action goal ×2 + 34.10sINFOros2_control_node[2026-10-24 03:33:09.106] [info] Accepted new action goal ×2 + 37.89sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 38.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 38.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 38.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 38.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 38.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 38.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 39.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 39.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 39.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.50sINFOobjective_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 + 39.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 40.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 40.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 40.20sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.32sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 40.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 40.33sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 40.33sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	22.2s	66 warnings · 16240 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2674 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2674 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5348 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×5348 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547970 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547970 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958899 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958899 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470215 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470215 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792812681.58193421 seconds ×3 + 3.18sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.18sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOobjective_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: "" + 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792812682.23096371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-10-24 03:31:22.394] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-10-24 03:31:22.394] [info] Accepted new action goal ×2 + 5.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.29sINFOobjective_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 + 5.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085667 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085667 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300815 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300815 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704055 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704055 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828029 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828029 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888276 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888276 ms (missed cycles : 2).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552526 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552526 ms (missed cycles : 2).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534182 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534182 ms (missed cycles : 2).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026683 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026683 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874111 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874111 ms (missed cycles : 3).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656236 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656236 ms (missed cycles : 2).[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189580 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189580 ms (missed cycles : 2).[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883221 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883221 ms (missed cycles : 2).[0m ×2 + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344562 ms (missed cycles : 2). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344562 ms (missed cycles : 2).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879309 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879309 ms (missed cycles : 2).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932052 ms (missed cycles : 2). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932052 ms (missed cycles : 2).[0m ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3).[0m ×2 + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2).[0m ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2).[0m ×2 + 25.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792812703.74042940 seconds ×3 + 25.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 25.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792812704.47517467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.25sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 26.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.26sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Received new action goal ×2 + 26.26sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Accepted new action goal ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2).[0m ×2
✓ passed	Live Surface Coverage Demo	live_surface_coverage_demo.xml	21.7s	3 errors · 14 warnings · 189 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00412219 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.38sINFOros2_control_node[2026-10-24 03:29:01.884] [info] Received new action goal ×2 + 0.38sINFOros2_control_node[2026-10-24 03:29:01.884] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-10-24 03:29:02.316] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-10-24 03:29:02.316] [info] Accepted new action goal ×2 + 2.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.93sERRORobjective_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: 1792812544.43227077 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Live Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792812545.24669886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.78sINFOros2_control_node[2026-10-24 03:29:06.280] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-10-24 03:29:06.280] [info] Accepted new action goal ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845212 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845212 ms (missed cycles : 2).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051862 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051862 ms (missed cycles : 2).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312692 ms (missed cycles : 4). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312692 ms (missed cycles : 4).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855400 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855400 ms (missed cycles : 2).[0m ×2 + 10.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 11.14sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 11.15sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 11.20sINFOros2_control_node[2026-10-24 03:29:12.700] [info] Received new action goal ×2 + 11.20sINFOros2_control_node[2026-10-24 03:29:12.700] [info] Accepted new action goal ×2 + 20.60sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 20.71sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 20.71sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 20.73sINFOros2_control_node[2026-10-24 03:29:22.234] [info] Received new action goal ×2 + 20.73sINFOros2_control_node[2026-10-24 03:29:22.234] [info] Accepted new action goal ×2 + 24.65sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792812566.14861035 seconds ×3 + 25.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 25.18sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 25.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792812566.82800412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.50sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 25.51sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 25.51sINFOros2_control_node[2026-10-24 03:29:27.012] [info] Received new action goal ×2 + 25.51sINFOros2_control_node[2026-10-24 03:29:27.012] [info] Accepted new action goal ×2 + 28.00sINFOros2_control_node[2026-10-24 03:29:29.498] [info] Received new action goal ×2 + 28.00sINFOros2_control_node[2026-10-24 03:29:29.498] [info] Accepted new action goal ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.9s	3 warnings · 203 info
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792812566.14861035 seconds ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.00sINFOcontroller_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: 1792812566.82800412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.85sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.86sINFOros2_control_node[2026-10-24 03:29:27.012] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-10-24 03:29:27.012] [info] Accepted new action goal ×2 + 3.35sINFOros2_control_node[2026-10-24 03:29:29.498] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-10-24 03:29:29.498] [info] Accepted new action goal ×2 + 11.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792812578.06961036 seconds ×3 + 12.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.46sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792812578.66520166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 12.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 12.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750665 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750665 ms (missed cycles : 3).[0m ×2 + 12.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792812578.73536301 seconds ×3 + 13.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.50sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 13.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.51sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 13.51sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 15.51sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3
✓ passed	Push Button	move_with_velocity_and_force.xml	11.6s	6 warnings · 238 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 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 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 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-10-24 03:30:24.323] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-10-24 03:30:24.323] [info] Accepted new action goal ×2 + 2.07sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792812625.47908926 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 + 2.11sINFOros2_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 + 2.12sINFOros2_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: 1792812626.26186728 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 (2.88e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.90sINFOros2_control_node[2026-10-24 03:30:27.307] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-10-24 03:30:27.307] [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 + 7.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.59sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.60sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 10.03sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.05sINFOros2_control_node[2026-10-24 03:30:33.459] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-10-24 03:30:33.459] [info] Accepted new action goal ×2 + 13.65sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792812637.06398392 seconds ×3 + 14.19sINFOobjective_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: "" + 14.19sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792812637.67238688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 14.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.45sINFOros2_control_node[2026-10-24 03:30:37.856] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-10-24 03:30:37.856] [info] Accepted new action goal ×2 + 15.71sINFOobjective_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 + 15.72sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812899 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812899 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886601 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886601 ms (missed cycles : 2).[0m ×2 + 17.45sINFOjoint_trajectory_controllerReceived new action goal ×3 + 17.45sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 17.45sINFOros2_control_nodeReceived new action goal[0m ×6 + 17.45sINFOros2_control_nodeAccepted new action goal[0m ×6
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.3s	73 errors · 22 warnings · 471 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [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: 1792812805.40179873 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 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ 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: 1792812806.00116897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792812807.15328813 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792812807.76854968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.38sINFOobjective_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 + 2.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792812807.77033997 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792812808.37205100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792812808.39278626 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792812808.99907446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099985 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099985 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792812810.07924438 seconds ×3 + 4.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 10.50sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.52sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.52sERRORweb_video_auth_proxy-25process has died [pid 8459, 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 + 10.52sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.53sERRORweb_bridge_auth_proxy-24process has died [pid 8456, 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 + 10.53sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.53sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.53sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.54sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.54sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.55sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.55sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.56sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.56sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.57sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.57sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.58sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.59sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.59sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812152 ms (missed cycles : 2). + 10.60sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.60sINFOcontroller_managerShutdown request received.... + 10.60sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.60sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.60sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.60sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.60sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.60sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.60sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.60sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.60sINFOvideo_server2026/10/24 03:33:35 INF shutting down gracefully ×2 + 10.60sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.60sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.60sINFOvideo_server-23process has finished cleanly [pid 8455] ×2 + 10.60sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.60sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.60sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.60sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.60sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.60sINFOvideo_server2026/10/24 03:33:35 INF [WebRTC] closing ×2 + 10.60sINFOvideo_server2026/10/24 03:33:35 INF [RTSP] closing ×2 + 10.60sINFOcontroller_managerShutting down the controller manager. + 10.60sINFOvideo_server2026/10/24 03:33:35 INF waiting for running hooks ×2 + 10.60sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.60sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812152 ms (missed cycles : 2).[0m ×2 + 10.61sERRORmove_groupStack trace (most recent call last) in thread 8858: ×2 + 10.61sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.61sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.61sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.61sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.61sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.61sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8ae71dcc3, in __clone ×2 + 10.61sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8ae690b83, in ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.61sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc8ae921db3, in ×2 + 10.61sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.61sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.61sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.61sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.61sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.61sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fc8af08be94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.61sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc8aecb5620, in rclcpp::Rate::sleep() ×2 + 10.61sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc8aebf7d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.61sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc8aebb9087, in ×2 + 10.61sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc8ae8f0390, in __cxa_throw ×2 + 10.61sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc8ae8daa54, in std::terminate() ×2 + 10.61sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc8ae8f00d9, in ×2 + 10.61sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc8ae8daff4, in ×2 + 10.61sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8ae61c8fe, in abort ×2 + 10.61sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8ae63927d, in raise ×2 + 10.61sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8ae692c0c, in pthread_kill ×2 + 10.61sERRORmove_groupAborted (Signal sent by tkill() 8346 0) ×2 + 10.61sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.62sERRORmove_group-9process has died [pid 8346, 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_uzp7na7w --params-file /tmp/launch_params_tejasij7 --params-file /tmp/launch_params_zl_394y5 --params-file /tmp/launch_params_bo8c74al --params-file /tmp/launch_params_tlzjyti3 --params-file /tmp/launch_params_v553mj9k']. ×2 + 10.80sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.80sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.56sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.56sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.56sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.56sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.56sINFOjoint_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 + 11.56sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.56sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.56sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.56sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.56sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.56sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.57sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.57sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.57sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.57sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.57sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.57sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.57sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.57sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.57sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.57sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.57sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.57sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.57sINFOtf_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 + 11.57sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.57sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.57sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.57sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.57sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.57sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.57sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.57sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.57sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.57sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.57sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.57sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.57sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.57sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.58sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8454] ×2 + 11.58sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.62sERRORtf_visualization_relay-20process has died [pid 8452, 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_z5dqqd8a']. ×2 + 11.62sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.62sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8350] ×2 + 11.62sERRORjoint_state_visualization_relay-21process has died [pid 8453, 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_0ma58hhl']. ×2 + 11.62sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.63sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8349] ×2 + 11.66sINFOwaypoint_manager_node-11process has finished cleanly [pid 8348] ×2 + 11.67sINFOexecute_objective_bridge-17process has finished cleanly [pid 8372] ×2 + 11.67sINFOui_teleop_bridge-18process has finished cleanly [pid 8373] ×2 + 11.68sINFOparameter_manager_node-10process has finished cleanly [pid 8347] ×2 + 11.72sINFOcomponent_container_mt-16process has finished cleanly [pid 8371] ×2 + 11.78sINFOobjective_server_node[0;m[2026-10-24 03:33:37.167] [moveit_pro_license] [info] ×2 + 11.78sINFOobjective_server_node************************************************* ×4 + 11.78sINFOobjective_server_node* MoveIt Pro License ×2 + 11.78sINFOobjective_server_node* Application has successfully terminated ×2 + 12.04sINFOobjective_server_node_main-14process has finished cleanly [pid 8352] ×2 + 12.04sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.70sINFOweb_bridge-19process has finished cleanly [pid 8374] ×2 + 12.70sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.75sINFOcomponent_container_mt-15process has finished cleanly [pid 8355] ×2 + 13.27sINFOros2_control_node-1process has finished cleanly [pid 8327] ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.1s	20 warnings · 2536 info
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×780 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×389 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×389 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×778 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792812703.74042940 seconds ×3 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792812704.47517467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805657 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805657 ms (missed cycles : 5).[0m ×2 + 8.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.19sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.47sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 1 iterations (0.00341807 s). ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004672 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004672 ms (missed cycles : 2).[0m ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.82sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.85sINFOros2_control_node[2026-10-24 03:31:49.405] [info] Received new action goal ×2 + 8.85sINFOros2_control_node[2026-10-24 03:31:49.405] [info] Accepted new action goal ×2 + 9.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 11.15sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 11.15sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 12.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.82sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 12.82sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 14.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 14.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.79sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 15.19sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 17.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	9 errors · 11 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: 1792812530.59044123 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 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792812534.01852465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (5.27e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.93sINFOros2_control_node[2026-10-24 03:28:54.222] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-10-24 03:28:54.222] [info] Accepted new action goal ×2 + 5.05sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709942 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709942 ms (missed cycles : 2).[0m ×2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722127 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722127 ms (missed cycles : 2).[0m ×2 + 7.63sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 1 iterations (0.00585834 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (2.01e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.69sINFOros2_control_node[2026-10-24 03:28:58.976] [info] Received new action goal ×2 + 8.69sINFOros2_control_node[2026-10-24 03:28:58.976] [info] Accepted new action goal ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.23sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 11.34sINFOobjective_server_nodeFound path in 1 iterations (0.00412219 s). ×2 + 11.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.60sINFOros2_control_node[2026-10-24 03:29:01.884] [info] Received new action goal ×2 + 11.60sINFOros2_control_node[2026-10-24 03:29:01.884] [info] Accepted new action goal ×2 + 12.03sINFOros2_control_node[2026-10-24 03:29:02.316] [info] Received new action goal ×2 + 12.03sINFOros2_control_node[2026-10-24 03:29:02.316] [info] Accepted new action goal ×2 + 14.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.14sERRORobjective_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: 1792812544.43227077 seconds ×3 + 14.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Live Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.82sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.96sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792812545.24669886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.97sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 15.99sINFOros2_control_node[2026-10-24 03:29:06.280] [info] Received new action goal ×2 + 15.99sINFOros2_control_node[2026-10-24 03:29:06.280] [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 · 23 warnings · 204 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 (2.72e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.11sINFOros2_control_node[2026-10-24 03:28:07.689] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-24 03:28:07.689] [info] Accepted new action goal ×2 + 0.81sINFOobjective_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 + 0.82sINFOros2_control_node[2026-10-24 03:28:08.395] [info] Got request to cancel active goal. ×2 + 0.82sINFOros2_control_node[2026-10-24 03:28:08.395] [info] Canceling active goal... ×2 + 0.83sERRORobjective_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: 1792812488.41127539 seconds ×3 + 0.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.37sINFOobjective_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: "" + 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.37sINFOobjective_server_nodecaller: ×6 + 1.37sINFOobjective_server_nodetype: 0 ×6 + 1.37sINFOobjective_server_nodename: "" ×6 + 1.37sINFOobjective_server_nodeinstance_id: "" ×6 + 1.37sINFOobjective_server_node ×6 + 1.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792812489.06271291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 1.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.73sINFOros2_control_node[2026-10-24 03:28:09.306] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-10-24 03:28:09.307] [info] Accepted new action goal ×2 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.01sINFOros2_control_node[2026-10-24 03:28:11.587] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-24 03:28:11.587] [info] Accepted new action goal ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776339 ms (missed cycles : 5). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776339 ms (missed cycles : 5).[0m ×2 + 8.04sWARNros2_control_nodeCamera render tick took 1.39 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 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734143 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734143 ms (missed cycles : 3).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121613 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121613 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2).[0m ×2 + 11.82sERRORobjective_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: 1792812499.39332867 seconds ×3 + 12.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.36sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792812499.99168944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792812500.12184834 seconds ×3 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 13.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.11sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792812500.75162554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.37sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.38sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Accepted new action goal ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5).[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.0s	3 errors · 3 warnings · 426 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792812474.57762265 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_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: 1792812475.19553208 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: 1792812475.25571632 seconds ×3 + 0.76sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 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 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.64sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.14sINFOros2_control_node[2026-10-24 03:28:00.719] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-10-24 03:28:00.719] [info] Accepted new action goal ×2 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.78sINFOros2_control_node[2026-10-24 03:28:04.360] [info] Received new action goal ×2 + 9.78sINFOros2_control_node[2026-10-24 03:28:04.360] [info] Accepted new action goal ×2 + 13.09sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 13.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.11sINFOros2_control_node[2026-10-24 03:28:07.689] [info] Received new action goal ×2 + 13.11sINFOros2_control_node[2026-10-24 03:28:07.689] [info] Accepted new action goal ×2 + 13.81sINFOobjective_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 + 13.82sINFOros2_control_node[2026-10-24 03:28:08.395] [info] Got request to cancel active goal. ×2 + 13.82sINFOros2_control_node[2026-10-24 03:28:08.395] [info] Canceling active goal... ×2 + 13.83sERRORobjective_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: 1792812488.41127539 seconds ×3 + 13.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.37sINFOobjective_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: "" + 14.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792812489.06271291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 14.73sINFOros2_control_node[2026-10-24 03:28:09.306] [info] Received new action goal ×2 + 14.73sINFOros2_control_node[2026-10-24 03:28:09.307] [info] Accepted new action goal ×2 + 16.99sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 16.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.01sINFOros2_control_node[2026-10-24 03:28:11.587] [info] Received new action goal ×2 + 17.01sINFOros2_control_node[2026-10-24 03:28:11.587] [info] Accepted new action goal ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	11.0s	3 errors · 3 warnings · 141 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035411 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035411 ms (missed cycles : 2).[0m ×2 + 14.18sINFOobjective_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 + 14.18sERRORobjective_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: 1792812725.89203048 seconds ×3 + 14.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.75sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792812726.52289414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.11sINFOros2_control_node[2026-10-24 03:32:06.816] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-10-24 03:32:06.816] [info] Accepted new action goal ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.0s	3 errors · 125 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792812736.41867995 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 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ 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 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792812737.04034781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-10-24 03:32:17.154] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-10-24 03:32:17.154] [info] Accepted new action goal ×2 + 2.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 10.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.97sERRORobjective_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: 1792812747.39063430 seconds ×3 + 11.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.51sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.58sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1792812747.99471259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.72sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 11.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.74sINFOros2_control_node[2026-10-24 03:32:28.160] [info] Received new action goal ×2 + 11.74sINFOros2_control_node[2026-10-24 03:32:28.160] [info] Accepted new action goal ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	11.0s	9 errors · 17 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.65sINFOobjective_server_nodecaller: ×4 + 2.65sINFOobjective_server_nodetype: 0 ×4 + 2.65sINFOobjective_server_nodename: "" ×4 + 2.65sINFOobjective_server_nodeinstance_id: "" ×4 + 2.65sINFOobjective_server_node ×4 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.906232 ms (missed cycles : 6). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.906232 ms (missed cycles : 6).[0m ×2 + 6.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.34sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.58sWARNros2_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 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.63sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 6.83sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.86sINFOobjective_server_nodeFound path in 1 iterations (0.00545713 s). ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684065 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684065 ms (missed cycles : 2).[0m ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.45sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.72sINFOros2_control_node[2026-10-24 03:28:48.026] [info] Received new action goal ×2 + 7.72sINFOros2_control_node[2026-10-24 03:28:48.026] [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: 1792812530.59044123 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 + 13.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.71sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792812534.01852465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sINFOobjective_server_nodeFound path in 0 iterations (5.27e-07 s). ×2 + 13.92sINFOros2_control_node[2026-10-24 03:28:54.222] [info] Received new action goal ×2 + 13.92sINFOros2_control_node[2026-10-24 03:28:54.222] [info] Accepted new action goal ×2 + 15.04sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709942 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709942 ms (missed cycles : 2).[0m ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	10.9s	3 errors · 17 warnings · 407 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.64sINFOobjective_server_nodecaller: ×14 + 0.64sINFOobjective_server_nodetype: 0 ×14 + 0.64sINFOobjective_server_nodename: "" ×14 + 0.64sINFOobjective_server_nodeinstance_id: "" ×14 + 0.64sINFOobjective_server_node ×14 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2 + 5.76sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.76sINFOros2_control_node[2026-10-24 03:33:18.651] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-24 03:33:18.651] [info] Accepted new action goal ×2 + 5.76sINFOros2_control_node[2026-10-24 03:33:18.651] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 12.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.51sINFOros2_control_node[2026-10-24 03:33:25.397] [info] Got request to cancel active goal. ×2 + 12.51sINFOros2_control_node[2026-10-24 03:33:25.397] [info] Canceling active goal... ×2 + 12.51sERRORobjective_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: 1792812805.40179873 seconds ×3 + 13.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792812806.00116897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4).[0m ×2 + 14.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792812807.15328813 seconds ×3 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2).[0m ×2 + 14.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.81sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792812807.76854968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.88sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 14.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792812807.77033997 seconds ×3 + 15.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 15.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.42sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792812808.37205100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792812808.39278626 seconds ×3 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2).[0m ×2 + 16.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.8s	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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792812510.85585427 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.19sINFOobjective_server_nodecaller: ×6 + 2.19sINFOobjective_server_nodetype: 0 ×6 + 2.19sINFOobjective_server_nodename: "" ×6 + 2.19sINFOobjective_server_nodeinstance_id: "" ×6 + 2.19sINFOobjective_server_node ×6 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792812511.47664785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792812511.56679511 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 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792812512.22486401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Accepted new action goal ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.50sINFOros2_control_node[2026-10-24 03:28:35.709] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-10-24 03:28:35.709] [info] Accepted new action goal ×2 + 8.84sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 8.85sINFOros2_control_node[2026-10-24 03:28:38.056] [info] Received new action goal ×2 + 8.85sINFOros2_control_node[2026-10-24 03:28:38.056] [info] Accepted new action goal ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 11.20sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 11.20sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 13.18sINFOobjective_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 + 13.19sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 13.19sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 13.20sERRORobjective_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: 1792812522.40829778 seconds ×3 + 13.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.03sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 14.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.04sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 14.04sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	10.7s	3 errors · 18 warnings · 268 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_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 + 1.21sERRORobjective_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: 1792812499.39332867 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.75sINFOobjective_server_nodecaller: ×8 + 1.75sINFOobjective_server_nodetype: 0 ×8 + 1.75sINFOobjective_server_nodename: "" ×8 + 1.75sINFOobjective_server_nodeinstance_id: "" ×8 + 1.75sINFOobjective_server_node ×8 + 1.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792812499.99168944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792812500.12184834 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792812500.75162554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050648 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050648 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.77sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547509 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547509 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 7.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.19sINFOobjective_server_nodeFound path in 1 iterations (0.00366861 s). ×2 + 7.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.42sINFOros2_control_node[2026-10-24 03:28:25.604] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-10-24 03:28:25.604] [info] Accepted new action goal ×2 + 9.72sINFOros2_control_node[2026-10-24 03:28:27.907] [info] Received new action goal ×2 + 9.72sINFOros2_control_node[2026-10-24 03:28:27.907] [info] Accepted new action goal ×2 + 11.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.38sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Received new action goal ×2 + 11.38sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Accepted new action goal ×2 + 12.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792812510.85585427 seconds ×3 + 13.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.21sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792812511.47664785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792812511.56679511 seconds ×3 + 13.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792812512.22486401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 14.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.17sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Received new action goal ×2 + 14.17sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Accepted new action goal ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.5s	3 errors · 3 warnings · 129 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792812725.89203048 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.04sINFOros2_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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.57sINFOobjective_server_nodename: "" ×4 + 0.57sINFOobjective_server_nodeinstance_id: "" ×4 + 0.57sINFOobjective_server_node ×4 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792812726.52289414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.93sINFOros2_control_node[2026-10-24 03:32:06.816] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-10-24 03:32:06.816] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743070 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743070 ms (missed cycles : 2).[0m ×2 + 4.95sINFOros2_control_node[2026-10-24 03:32:10.834] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-10-24 03:32:10.834] [info] Accepted new action goal ×2 + 10.53sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792812736.41867995 seconds ×3 + 11.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.07sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.15sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792812737.04034781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.26sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 11.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.27sINFOros2_control_node[2026-10-24 03:32:17.154] [info] Received new action goal ×2 + 11.27sINFOros2_control_node[2026-10-24 03:32:17.154] [info] Accepted new action goal ×2 + 13.17sINFOobjective_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 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792812747.39063430 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 + 0.01sINFOros2_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 ] ×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 Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1792812747.99471259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.77sINFOros2_control_node[2026-10-24 03:32:28.160] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-10-24 03:32:28.160] [info] Accepted new action goal ×2 + 5.09sINFOros2_control_node[2026-10-24 03:32:32.481] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-10-24 03:32:32.481] [info] Accepted new action goal ×2 + 7.11sINFOros2_control_node[2026-10-24 03:32:34.502] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-10-24 03:32:34.502] [info] Accepted new action goal ×2 + 7.61sINFOros2_control_node[2026-10-24 03:32:35.003] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-10-24 03:32:35.003] [info] Accepted new action goal ×2 + 9.69sINFOros2_control_node[2026-10-24 03:32:37.074] [info] Received new action goal ×2 + 9.69sINFOros2_control_node[2026-10-24 03:32:37.074] [info] Accepted new action goal ×2 + 10.50sINFOobjective_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 + 10.50sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1792812757.88813496 seconds ×3 + 11.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.04sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.16sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792812758.54629564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.18sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 12.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.19sINFOros2_control_node[2026-10-24 03:32:39.580] [info] Received new action goal ×2 + 12.19sINFOros2_control_node[2026-10-24 03:32:39.580] [info] Accepted new action goal ×2
✓ passed	Look at Table	look_at_table.xml	3.9s	3 warnings · 208 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792812578.06961036 seconds ×3 + 0.01sINFOcontroller_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 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_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 MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792812578.66520166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750665 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750665 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792812578.73536301 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.22sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792812583.29215240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 5.31sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 5.58sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.63sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Received new action goal ×2 + 5.63sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Accepted new action goal ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.8s	3 errors · 17 warnings · 213 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [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: 1792812805.40179873 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 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ 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: 1792812806.00116897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792812807.15328813 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792812807.76854968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.38sINFOobjective_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 + 2.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792812807.77033997 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792812808.37205100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792812808.39278626 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792812808.99907446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099985 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099985 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792812810.07924438 seconds ×3 + 4.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ 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 + 2.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×17 + 2.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.75sINFOobjective_server_nodecaller: ×14 + 2.75sINFOobjective_server_nodetype: 0 ×14 + 2.75sINFOobjective_server_nodename: "" ×14 + 2.75sINFOobjective_server_nodeinstance_id: "" ×14 + 2.75sINFOobjective_server_node ×14 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792812474.57762265 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 5.09sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 7.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 7.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 7.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.72sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.96sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 7.96sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.9s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 15 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121613 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121613 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1792812499.39332867 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792812499.99168944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792812500.12184834 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792812500.75162554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	125 info
+ 0.00sINFOros2_control_node[2026-10-24 03:28:27.907] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:28:27.907] [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[2026-10-24 03:28:29.559] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792812510.85585427 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792812511.47664785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792812511.56679511 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792812512.22486401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.44sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Accepted new action goal ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 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: 1792812473.66748571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792812474.57762265 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: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 3.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 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: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	3 warnings · 138 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792812578.06961036 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792812578.66520166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750665 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750665 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792812578.73536301 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	3 errors · 17 warnings · 213 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [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: 1792812805.40179873 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 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ 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: 1792812806.00116897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792812807.15328813 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792812807.76854968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.38sINFOobjective_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 + 2.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792812807.77033997 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792812808.37205100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792812808.39278626 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792812808.99907446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099985 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099985 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792812810.07924438 seconds ×3 + 4.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 17 warnings · 213 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [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: 1792812805.40179873 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 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ 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: 1792812806.00116897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792812807.15328813 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792812807.76854968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.38sINFOobjective_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 + 2.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792812807.77033997 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792812808.37205100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792812808.39278626 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792812808.99907446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099985 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099985 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792812810.07924438 seconds ×3 + 4.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Pick object	pick_object.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_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 · 2424 info
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×780 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×389 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×389 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×778 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792812703.74042940 seconds ×3 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792812704.47517467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2).[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 15 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121613 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121613 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1792812499.39332867 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792812499.99168944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792812500.12184834 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792812500.75162554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5).[0m ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 15 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121613 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121613 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1792812499.39332867 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792812499.99168944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792812500.12184834 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792812500.75162554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5).[0m ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 12 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_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 + 1.21sERRORobjective_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: 1792812499.39332867 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.75sINFOobjective_server_nodecaller: ×4 + 1.75sINFOobjective_server_nodetype: 0 ×4 + 1.75sINFOobjective_server_nodename: "" ×4 + 1.75sINFOobjective_server_nodeinstance_id: "" ×4 + 1.75sINFOobjective_server_node ×4 + 1.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792812499.99168944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792812500.12184834 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792812500.75162554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 12 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_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 + 1.21sERRORobjective_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: 1792812499.39332867 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.75sINFOobjective_server_nodecaller: ×4 + 1.75sINFOobjective_server_nodetype: 0 ×4 + 1.75sINFOobjective_server_nodename: "" ×4 + 1.75sINFOobjective_server_nodeinstance_id: "" ×4 + 1.75sINFOobjective_server_node ×4 + 1.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792812499.99168944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792812500.12184834 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792812500.75162554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5).[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 12 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_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 + 1.21sERRORobjective_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: 1792812499.39332867 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.75sINFOobjective_server_nodecaller: ×4 + 1.75sINFOobjective_server_nodetype: 0 ×4 + 1.75sINFOobjective_server_nodename: "" ×4 + 1.75sINFOobjective_server_nodeinstance_id: "" ×4 + 1.75sINFOobjective_server_node ×4 + 1.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792812499.99168944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792812500.12184834 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792812500.75162554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5).[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 12 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115536 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095195 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_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 + 1.21sERRORobjective_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: 1792812499.39332867 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.75sINFOobjective_server_nodecaller: ×4 + 1.75sINFOobjective_server_nodetype: 0 ×4 + 1.75sINFOobjective_server_nodename: "" ×4 + 1.75sINFOobjective_server_nodeinstance_id: "" ×4 + 1.75sINFOobjective_server_node ×4 + 1.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792812499.99168944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792812500.12184834 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792812500.75162554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-10-24 03:28:20.955] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565282 ms (missed cycles : 5).[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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792812510.85585427 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792812511.47664785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792812511.56679511 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 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792812512.22486401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792812510.85585427 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792812511.47664785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792812511.56679511 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 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792812512.22486401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792812510.85585427 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792812511.47664785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792812511.56679511 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 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792812512.22486401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792812510.85585427 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792812511.47664785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792812511.56679511 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 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792812512.22486401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-24 03:28:29.559] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792812510.85585427 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792812511.47664785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792812511.56679511 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 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792812512.22486401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-24 03:28:32.349] [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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (4.44e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 03:28:40.407] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-24 03:28:42.395] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1792812522.40829778 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792812523.03831363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-10-24 03:28:43.252] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812038 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 (2.53e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00412219 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOros2_control_node[2026-10-24 03:29:01.884] [info] Received new action goal ×2 + 0.38sINFOros2_control_node[2026-10-24 03:29:01.884] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-10-24 03:29:02.316] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-10-24 03:29:02.316] [info] Accepted new action goal ×2 + 2.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.93sERRORobjective_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: 1792812544.43227077 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Live Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792812545.24669886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.78sINFOros2_control_node[2026-10-24 03:29:06.280] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-10-24 03:29:06.280] [info] Accepted new action goal ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	3 warnings · 138 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792812578.06961036 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792812578.66520166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750665 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750665 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792812578.73536301 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792812583.29215240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_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 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Accepted new action goal ×2
− skipped	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792812583.29215240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_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 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Accepted new action goal ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792812583.29215240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_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 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Accepted new action goal ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792812583.29215240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_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 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Accepted new action goal ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792812583.29215240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_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 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Accepted new action goal ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792812583.29215240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_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 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Accepted new action goal ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792812579.52859521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-10-24 03:29:39.653] [info] Accepted new action goal ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792812581.65875578 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792812583.29215240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOobjective_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 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-10-24 03:29:43.699] [info] Accepted new action goal ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	6 warnings · 102 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792812637.06398392 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 + 0.02sINFOros2_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: "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 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792812637.67238688 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 (3.17e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.79sINFOros2_control_node[2026-10-24 03:30:37.856] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-10-24 03:30:37.856] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812899 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812899 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886601 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886601 ms (missed cycles : 2).[0m ×2 + 3.80sINFOjoint_trajectory_controllerReceived new action goal ×3 + 3.80sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 3.80sINFOros2_control_nodeReceived new action goal[0m ×6 + 3.80sINFOros2_control_nodeAccepted new action goal[0m ×6
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	12 warnings · 2424 info
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×780 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×389 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×389 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×778 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792812703.74042940 seconds ×3 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792812704.47517467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	12 warnings · 2424 info
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×780 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×389 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×389 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×778 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792812703.74042940 seconds ×3 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792812704.47517467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	12 warnings · 2424 info
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×780 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×389 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×389 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×778 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792812703.74042940 seconds ×3 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792812704.47517467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	12 warnings · 2424 info
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×780 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×389 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×389 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×778 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402783 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673059 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327016 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792812703.74042940 seconds ×3 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792812704.47517467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-10-24 03:31:44.669] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984010 ms (missed cycles : 2).[0m ×2
− skipped	Pick from AprilTag Detections	pick_from_apriltag_detections.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick up Object	pick_up_cube.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose	place_at_pose.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place Object	place_object.xml	0.0s	80 info
+ 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 03:31:51.707] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-24 03:31:53.379] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792812714.67536879 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_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 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792812715.56154752 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 (5.22e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-10-24 03:31:55.745] [info] Accepted new action goal ×2 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 61 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792812725.89203048 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOros2_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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.57sINFOobjective_server_nodecaller: ×2 + 0.57sINFOobjective_server_nodetype: 0 ×2 + 0.57sINFOobjective_server_nodename: "" ×2 + 0.57sINFOobjective_server_nodeinstance_id: "" ×2 + 0.57sINFOobjective_server_node ×2 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792812726.52289414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.93sINFOros2_control_node[2026-10-24 03:32:06.816] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-10-24 03:32:06.816] [info] Accepted new action goal ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	64 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792812736.41867995 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 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ 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 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792812737.04034781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-10-24 03:32:17.154] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-10-24 03:32:17.154] [info] Accepted new action goal ×2 + 2.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 warnings · 188 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 warnings · 188 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 warnings · 188 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
− skipped	Select Region and Record Coverage	select_region_and_record_coverage.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
− skipped	Select Region for Coverage Path	select_region_for_coverage_path.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792812792.89093924 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792812793.73914576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472485 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792812793.87931013 seconds ×3 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792812794.47850299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792812794.50001168 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792812795.20681190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-10-24 03:33:15.331] [info] Accepted new action goal ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 14 warnings · 207 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [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: 1792812805.40179873 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 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ 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: 1792812806.00116897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792812807.15328813 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792812807.76854968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.38sINFOobjective_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 + 2.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792812807.77033997 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792812808.37205100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792812808.39278626 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 14 warnings · 207 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-24 03:33:25.397] [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: 1792812805.40179873 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 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ 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: 1792812806.00116897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538925 ms (missed cycles : 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792812807.15328813 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551528 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792812807.76854968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.38sINFOobjective_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 + 2.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792812807.77033997 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792812808.37205100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792812808.39278626 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808725 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_image_from_point_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3

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

3 pass8 skip

✓ passed	—	clear_snapshot.xml	12.3s	32 warnings · 767 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-24-03-27-40-776062-0e7001d7dda7-8279 ×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. + 0.70sINFOcontroller_managerupdate rate is 600 Hz + 0.70sINFOcontroller_managerOverruns handling is : enabled + 0.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.70sWARNcontroller_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. + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086205 ms (missed cycles : 5). + 0.91sINFOros2_control_node-1process started with pid [8327] ×2 + 0.91sINFOmove_group-9process started with pid [8346] ×2 + 0.91sINFOparameter_manager_node-10process started with pid [8347] ×2 + 0.91sINFOwaypoint_manager_node-11process started with pid [8348] ×2 + 0.91sINFOmove_joint_resampler_node-12process started with pid [8349] ×2 + 0.91sINFOmove_end_effector_resampler_node-13process started with pid [8350] ×2 + 0.91sINFOobjective_server_node_main-14process started with pid [8352] ×2 + 0.91sINFOcomponent_container_mt-15process started with pid [8355] ×2 + 0.91sINFOcomponent_container_mt-16process started with pid [8371] ×2 + 0.91sINFOexecute_objective_bridge-17process started with pid [8372] ×2 + 0.91sINFOui_teleop_bridge-18process started with pid [8373] ×2 + 0.91sINFOweb_bridge-19process started with pid [8374] ×2 + 0.91sINFOtf_visualization_relay-20process started with pid [8452] ×2 + 0.91sINFOjoint_state_visualization_relay-21process started with pid [8453] ×2 + 0.91sINFOtf2_web_republisher_node-22process started with pid [8454] ×2 + 0.91sINFOvideo_server-23process started with pid [8455] ×2 + 0.91sINFOweb_bridge_auth_proxy-24process started with pid [8456] ×2 + 0.91sINFOweb_video_auth_proxy-25process started with pid [8459] ×2 + 0.92sINFOros2-2process started with pid [8328] ×2 + 0.92sINFOros2-3process started with pid [8329] ×2 + 0.92sINFOros2-4process started with pid [8330] ×2 + 0.92sINFOros2-5process started with pid [8331] ×2 + 0.92sINFOros2-6process started with pid [8332] ×2 + 0.92sINFOros2-7process started with pid [8333] ×2 + 0.92sINFOros2-8process started with pid [8334] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_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 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086205 ms (missed cycles : 5).[0m ×2 + 0.96sINFOcontroller_managerReceived robot description from topic. + 0.96sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.97sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.97sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.01sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.11sINFOvideo_server2026/10/24 03:27:42 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/10/24 03:27:42 INF configuration loaded from /tmp/moveit-webrtc-vll3w85s/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/10/24 03:27:42 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.11sINFOvideo_server2026/10/24 03:27:42 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.54sINFOweb_bridge_auth_proxy2026-10-24 03:27:42,665 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.55sINFOweb_bridge_auth_proxy2026-10-24 03:27:42,674 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.55sINFOweb_video_auth_proxy2026-10-24 03:27:42,677 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.56sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.13sINFOmove_group[2026-10-24 03:27:43.254] [moveit_pro_license] [info] ×2 + 2.13sINFOmove_group************************************************* ×4 + 2.13sINFOmove_group* MoveIt Pro License ×2 + 2.13sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.18sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.18sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.18sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.18sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.19sINFOros2_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 + 2.19sINFOros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841285 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841285 ms (missed cycles : 2).[0m ×2 + 2.43sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.53sINFOwaypoint_manager_node[2026-10-24 03:27:43.656] [moveit_pro_license] [info] ×2 + 2.53sINFOwaypoint_manager_node************************************************* ×4 + 2.53sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.53sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.61sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.65sINFOmove_group ×4 + 2.65sINFOmove_group[92mYou can start planning now![0m ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.63sINFOobjective_server_node[2026-10-24 03:27:44.755] [moveit_pro_license] [info] ×2 + 3.63sINFOobjective_server_node************************************************* ×4 + 3.63sINFOobjective_server_node* MoveIt Pro License ×2 + 3.63sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.75sINFOobjective_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 + 3.75sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.76sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.76sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.76sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.76sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.76sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.77sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.77sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.77sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.10sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.10sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.18sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.18sINFOros2_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 + 4.19sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.19sWARNros2_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 + 4.19sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.19sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.19sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.19sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.19sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.19sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.19sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.19sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.19sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.19sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.19sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.19sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.19sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.19sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.19sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.19sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.20sINFOcomponent_container_mt[2026-10-24 03:27:45.327] [moveit_pro_license] [info] ×2 + 4.20sINFOcomponent_container_mt************************************************* ×4 + 4.20sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.20sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.32sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.32sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp + 4.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp [0m ×2 + 4.33sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.34sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.34sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.34sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.34sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.34sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678197 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678197 ms (missed cycles : 3).[0m ×2 + 4.35sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.35sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.66sINFOros2-3process has finished cleanly [pid 8329] ×2 + 4.75sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp + 4.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp [0m ×2 + 4.79sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.79sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.82sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.83sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.83sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.83sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 4.83sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.83sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.86sINFOros2_control_node[2026-10-24 03:27:45.983] [info] Controller state will be published at 20 Hz. ×2 + 4.86sINFOros2_control_node[2026-10-24 03:27:45.984] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp + 5.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp [0m ×2 + 5.13sINFOros2-8process has finished cleanly [pid 8334] ×2 + 5.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.15sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.15sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.15sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.15sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.15sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.15sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.15sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.16sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960458 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960458 ms (missed cycles : 5).[0m ×2 + 5.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.49sINFOros2-5process has finished cleanly [pid 8331] ×2 + 5.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp + 5.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp [0m ×2 + 5.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.57sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.57sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.57sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.61sINFOros2_control_node[2026-10-24 03:27:46.733] [info] Controller state will be published at 10 Hz. ×2 + 5.61sINFOros2_control_node[2026-10-24 03:27:46.734] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.96sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp + 5.96sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp [0m ×2 + 5.96sINFOros2-7process has finished cleanly [pid 8333] ×2 + 6.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.33sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.33sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.33sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.37sINFOros2-4process has finished cleanly [pid 8330] ×2 + 6.41sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp + 6.41sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp [0m ×2 + 6.45sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.46sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.46sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.46sINFOros2_control_node[2026-10-24 03:27:47.582] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.46sINFOros2_control_node[2026-10-24 03:27:47.582] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.48sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.48sINFOros2_control_node[2026-10-24 03:27:47.607] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.48sINFOros2_control_node[2026-10-24 03:27:47.607] [info] Controller state will be published at 50 Hz. ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698441 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698441 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_node[2026-10-24 03:27:47.632] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp + 6.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hl4a16pn --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_z94us_sd --params-file /tmp/launch_params_igf12_fp [0m ×2 + 6.83sINFOros2-6process has finished cleanly [pid 8332] ×2 + 6.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.88sINFOforce_torque_sensor_broadcasterconfigure successful + 6.88sINFOros2_control_nodeconfigure successful[0m ×2 + 6.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.19sINFOros2-2process has finished cleanly [pid 8328] ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684636 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684636 ms (missed cycles : 2).[0m ×2 + 9.12sWARNobjective_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 + 11.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 11.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 11.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 11.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 11.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 11.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 11.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 11.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 11.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 11.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 11.88sINFOobjective_server_nodecaller: ×10 + 11.88sINFOobjective_server_nodetype: 0 ×10 + 11.88sINFOobjective_server_nodename: "" ×10 + 11.88sINFOobjective_server_nodeinstance_id: "" ×10 + 11.88sINFOobjective_server_node ×10 + 11.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 seconds ×3 + 12.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.48sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792812474.57762265 seconds ×3 + 14.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 14.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 14.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 14.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 15.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	3 warnings · 389 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 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: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.21sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 7.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
✓ passed	—	reset_planning_scene.xml	0.7s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 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: 1792812473.66748571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792812474.57762265 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: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 3.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 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: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2
− skipped	—	addtovector.xml	0.0s	9 warnings · 161 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-24-03-27-40-776062-0e7001d7dda7-8279 ×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. + 0.70sINFOcontroller_managerupdate rate is 600 Hz + 0.70sINFOcontroller_managerOverruns handling is : enabled + 0.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.70sWARNcontroller_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. + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086205 ms (missed cycles : 5). + 0.91sINFOros2_control_node-1process started with pid [8327] ×2 + 0.91sINFOmove_group-9process started with pid [8346] ×2 + 0.91sINFOparameter_manager_node-10process started with pid [8347] ×2 + 0.91sINFOwaypoint_manager_node-11process started with pid [8348] ×2 + 0.91sINFOmove_joint_resampler_node-12process started with pid [8349] ×2 + 0.91sINFOmove_end_effector_resampler_node-13process started with pid [8350] ×2 + 0.91sINFOobjective_server_node_main-14process started with pid [8352] ×2 + 0.91sINFOcomponent_container_mt-15process started with pid [8355] ×2 + 0.91sINFOcomponent_container_mt-16process started with pid [8371] ×2 + 0.91sINFOexecute_objective_bridge-17process started with pid [8372] ×2 + 0.91sINFOui_teleop_bridge-18process started with pid [8373] ×2 + 0.91sINFOweb_bridge-19process started with pid [8374] ×2 + 0.91sINFOtf_visualization_relay-20process started with pid [8452] ×2 + 0.91sINFOjoint_state_visualization_relay-21process started with pid [8453] ×2 + 0.91sINFOtf2_web_republisher_node-22process started with pid [8454] ×2 + 0.91sINFOvideo_server-23process started with pid [8455] ×2 + 0.91sINFOweb_bridge_auth_proxy-24process started with pid [8456] ×2 + 0.91sINFOweb_video_auth_proxy-25process started with pid [8459] ×2 + 0.92sINFOros2-2process started with pid [8328] ×2 + 0.92sINFOros2-3process started with pid [8329] ×2 + 0.92sINFOros2-4process started with pid [8330] ×2 + 0.92sINFOros2-5process started with pid [8331] ×2 + 0.92sINFOros2-6process started with pid [8332] ×2 + 0.92sINFOros2-7process started with pid [8333] ×2 + 0.92sINFOros2-8process started with pid [8334] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_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 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086205 ms (missed cycles : 5).[0m ×2 + 0.96sINFOcontroller_managerReceived robot description from topic. + 0.96sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.97sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.97sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.01sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.11sINFOvideo_server2026/10/24 03:27:42 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/10/24 03:27:42 INF configuration loaded from /tmp/moveit-webrtc-vll3w85s/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/10/24 03:27:42 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.11sINFOvideo_server2026/10/24 03:27:42 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.54sINFOweb_bridge_auth_proxy2026-10-24 03:27:42,665 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.55sINFOweb_bridge_auth_proxy2026-10-24 03:27:42,674 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.55sINFOweb_video_auth_proxy2026-10-24 03:27:42,677 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.56sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.13sINFOmove_group[2026-10-24 03:27:43.254] [moveit_pro_license] [info] ×2 + 2.13sINFOmove_group************************************************* ×4 + 2.13sINFOmove_group* MoveIt Pro License ×2 + 2.13sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.18sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.18sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.18sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.18sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.19sINFOros2_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 + 2.19sINFOros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841285 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841285 ms (missed cycles : 2).[0m ×2 + 2.43sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.53sINFOwaypoint_manager_node[2026-10-24 03:27:43.656] [moveit_pro_license] [info] ×2 + 2.53sINFOwaypoint_manager_node************************************************* ×4 + 2.53sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.53sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.61sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.65sINFOmove_group ×4 + 2.65sINFOmove_group[92mYou can start planning now![0m ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 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: 1792812473.66748571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792812474.57762265 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: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 3.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 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: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2
− skipped	—	createvector.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 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: 1792812473.66748571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792812474.57762265 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: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 3.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 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: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 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: 1792812473.66748571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792812474.57762265 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: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 3.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 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: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2
− skipped	—	request_teleoperation.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 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: 1792812473.66748571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792812474.57762265 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: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 3.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 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: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-10-24 03:27:58.212] [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: 1792812473.06180763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792812473.07202291 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 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: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.21sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3

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

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	interpolate_to_joint_state.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_cartesian_pose.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_joint_state.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_named_waypoint.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_pose.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_pose_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_waypoint.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	move_to_waypoint_jtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	plan_path_with_mtc.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	record_teleop_trajectory.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	track_moving_frame.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	3 warnings · 328 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.05sINFOros2_control_node[2026-10-24 03:28:00.719] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-10-24 03:28:00.719] [info] Accepted new action goal ×2

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	capture_calibration_sample.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	capture_camera_point_cloud.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	collect_calibration_samples.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	generate_calibration_waypoints.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	interactive_marker_visualization_example.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	visualize_tf.xml	0.0s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792812473.66748571 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: 1792812474.57762265 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792812475.19553208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792812475.25571632 seconds ×3 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.03% 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: 1792812475.91655636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792812475.92669320 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792812476.52203798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792812476.67256784 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792812477.38463688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587912 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792812477.43478513 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792812478.08510685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2945e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-24 03:27:58.212] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3