136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
10.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass60 skip
| ✓ passed | 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 | 135 warnings · 23328 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819263 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819263 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792815809.14985442 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.77sINFOobjective_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: ""
+ 1.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.77sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 1.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.77sINFOobjective_server_nodecaller: ×4 + 1.77sINFOobjective_server_nodetype: 0 ×4 + 1.77sINFOobjective_server_nodename: "" ×4 + 1.77sINFOobjective_server_nodeinstance_id: "" ×4 + 1.77sINFOobjective_server_node ×4 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692540 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692540 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792815809.77572441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 2.02sINFOros2_control_node[2026-10-24 04:23:29.950] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-10-24 04:23:29.950] [info] Accepted new action goal ×2 + 3.29sINFOobjective_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 ×6 + 3.30sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939215 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939215 ms (missed cycles : 2).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554384 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554384 ms (missed cycles : 2).[0m ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal ×3844 + 5.18sINFOjoint_trajectory_controllerAccepted new action goal ×3844 + 5.18sINFOros2_control_nodeReceived new action goal[0m ×7688 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×7688 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738925 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738925 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703357 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703357 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574198 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574198 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888253 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888253 ms (missed cycles : 2).[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315545 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315545 ms (missed cycles : 2).[0m ×2 + 10.38sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 10.38sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 10.38sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 10.38sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 10.38sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798894 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798894 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761797 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761797 ms (missed cycles : 2).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722601 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722601 ms (missed cycles : 2).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745005 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745005 ms (missed cycles : 2).[0m ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027831 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027831 ms (missed cycles : 2).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984222 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984222 ms (missed cycles : 2).[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498232 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498232 ms (missed cycles : 2).[0m ×2 + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930516 ms (missed cycles : 2). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930516 ms (missed cycles : 2).[0m ×2 + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124801 ms (missed cycles : 2). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124801 ms (missed cycles : 2).[0m ×2 + 20.32sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698301 ms (missed cycles : 2). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698301 ms (missed cycles : 2).[0m ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233188 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233188 ms (missed cycles : 2).[0m ×2 + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776571 ms (missed cycles : 2). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776571 ms (missed cycles : 2).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811495 ms (missed cycles : 2). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811495 ms (missed cycles : 2).[0m ×2 + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188935 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188935 ms (missed cycles : 2).[0m ×2 + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178177 ms (missed cycles : 2). + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178177 ms (missed cycles : 2).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805640 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805640 ms (missed cycles : 2).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744719 ms (missed cycles : 2). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744719 ms (missed cycles : 2).[0m ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872564 ms (missed cycles : 2). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872564 ms (missed cycles : 2).[0m ×2 + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764764 ms (missed cycles : 2). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764764 ms (missed cycles : 2).[0m ×2 + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107262 ms (missed cycles : 2). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107262 ms (missed cycles : 2).[0m ×2 + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010589 ms (missed cycles : 2). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010589 ms (missed cycles : 2).[0m ×2 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113755 ms (missed cycles : 2). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113755 ms (missed cycles : 2).[0m ×2 + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868845 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868845 ms (missed cycles : 2).[0m ×2 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687054 ms (missed cycles : 2). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687054 ms (missed cycles : 2).[0m ×2 + 36.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766854 ms (missed cycles : 2). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766854 ms (missed cycles : 2).[0m ×2 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778425 ms (missed cycles : 2). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778425 ms (missed cycles : 2).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855250 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855250 ms (missed cycles : 2).[0m ×2 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737828 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737828 ms (missed cycles : 2).[0m ×2 + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894440 ms (missed cycles : 2). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894440 ms (missed cycles : 2).[0m ×2 + 41.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671453 ms (missed cycles : 2). + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671453 ms (missed cycles : 2).[0m ×2 + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727956 ms (missed cycles : 2). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727956 ms (missed cycles : 2).[0m ×2 + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234437 ms (missed cycles : 2). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234437 ms (missed cycles : 2).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951634 ms (missed cycles : 2). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951634 ms (missed cycles : 2).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717895 ms (missed cycles : 2). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717895 ms (missed cycles : 2).[0m ×2 + 45.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792815853.68531299 seconds ×3 + 45.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 45.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 45.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 45.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.30sINFOobjective_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: ""
+ 46.30sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 46.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792815854.33217263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 46.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 46.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 46.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 46.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 46.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 46.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 46.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 46.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 46.56sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 46.57sINFOros2_control_node[2026-10-24 04:24:14.496] [info] Received new action goal ×2 + 46.57sINFOros2_control_node[2026-10-24 04:24:14.496] [info] Accepted new action goal ×2 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776942 ms (missed cycles : 2). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776942 ms (missed cycles : 2).[0m ×2 + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004951 ms (missed cycles : 2). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004951 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 18 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792815755.39057016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Accepted new action goal ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 7.11sINFOros2_control_node[2026-10-24 04:22:38.675] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-10-24 04:22:38.675] [info] Accepted new action goal ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718943 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718943 ms (missed cycles : 2).[0m ×2 + 10.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.24sINFOros2_control_node[2026-10-24 04:22:41.805] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-10-24 04:22:41.805] [info] Accepted new action goal ×2 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 13.23sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.28sINFOros2_control_node[2026-10-24 04:22:44.839] [info] Received new action goal ×2 + 13.28sINFOros2_control_node[2026-10-24 04:22:44.839] [info] Accepted new action goal ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733200 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733200 ms (missed cycles : 2).[0m ×2 + 16.24sINFOobjective_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 + 16.24sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.24sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.24sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.24sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.69sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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 + 24.65sINFOros2_control_node[2026-10-24 04:22:56.215] [info] Received new action goal ×2 + 24.65sINFOros2_control_node[2026-10-24 04:22:56.215] [info] Accepted new action goal ×2 + 25.84sINFOobjective_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 + 25.85sINFOobjective_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 + 26.13sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 26.18sINFOros2_control_node[2026-10-24 04:22:57.738] [info] Received new action goal ×2 + 26.18sINFOros2_control_node[2026-10-24 04:22:57.738] [info] Accepted new action goal ×2 + 28.48sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 28.49sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.50sINFOros2_control_node[2026-10-24 04:23:00.065] [info] Received new action goal ×2 + 28.51sINFOros2_control_node[2026-10-24 04:23:00.065] [info] Accepted new action goal ×2 + 31.52sINFOros2_control_node[2026-10-24 04:23:03.085] [info] Received new action goal ×2 + 31.52sINFOros2_control_node[2026-10-24 04:23:03.085] [info] Accepted new action goal ×2 + 34.12sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 34.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.17sINFOros2_control_node[2026-10-24 04:23:05.729] [info] Received new action goal ×2 + 34.17sINFOros2_control_node[2026-10-24 04:23:05.729] [info] Accepted new action goal ×2 + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720076 ms (missed cycles : 2). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720076 ms (missed cycles : 2).[0m ×2 + 39.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681581 ms (missed cycles : 2). + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681581 ms (missed cycles : 2).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703001 ms (missed cycles : 2). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703001 ms (missed cycles : 2).[0m ×2 + 44.84sINFOros2_control_node[2026-10-24 04:23:16.396] [info] Received new action goal ×2 + 44.84sINFOros2_control_node[2026-10-24 04:23:16.396] [info] Accepted new action goal ×2 + 45.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792815797.55284739 seconds ×3 + 46.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.56sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792815798.33761621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.80sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 47.82sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.83sINFOros2_control_node[2026-10-24 04:23:19.393] [info] Received new action goal ×2 + 47.83sINFOros2_control_node[2026-10-24 04:23:19.393] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 35.2s | 58 warnings · 311 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:25:26.583] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:25:26.583] [info] Accepted new action goal ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786491 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786491 ms (missed cycles : 2).[0m ×2 + 0.50sINFOros2_control_node[2026-10-24 04:25:27.085] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-10-24 04:25:27.085] [info] Accepted new action goal ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772482 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772482 ms (missed cycles : 2).[0m ×2 + 2.57sINFOros2_control_node[2026-10-24 04:25:29.156] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-10-24 04:25:29.157] [info] Accepted new action goal ×2 + 3.39sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 3.39sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1792815929.97226214 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.93sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.93sINFOobjective_server_nodecaller: ×8 + 3.93sINFOobjective_server_nodetype: 0 ×8 + 3.93sINFOobjective_server_nodename: "" ×8 + 3.93sINFOobjective_server_nodeinstance_id: "" ×8 + 3.93sINFOobjective_server_node ×8 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669664 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669664 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792815930.63579535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.09sINFOros2_control_node[2026-10-24 04:25:31.671] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-10-24 04:25:31.671] [info] Accepted new action goal ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592963 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592963 ms (missed cycles : 4).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974163 ms (missed cycles : 6). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974163 ms (missed cycles : 6).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896744 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896744 ms (missed cycles : 2).[0m ×2 + 9.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 10.25sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 10.28sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 10.32sINFOros2_control_node[2026-10-24 04:25:36.907] [info] Received new action goal ×2 + 10.32sINFOros2_control_node[2026-10-24 04:25:36.907] [info] Accepted new action goal ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716354 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716354 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732909 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732909 ms (missed cycles : 2).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067468 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067468 ms (missed cycles : 2).[0m ×2 + 20.20sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 20.20sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 20.22sINFOros2_control_node[2026-10-24 04:25:46.799] [info] Received new action goal ×2 + 20.22sINFOros2_control_node[2026-10-24 04:25:46.799] [info] Accepted new action goal ×2 + 21.67sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781004 ms (missed cycles : 2). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781004 ms (missed cycles : 2).[0m ×2 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244367 ms (missed cycles : 5). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244367 ms (missed cycles : 5).[0m ×2 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278297 ms (missed cycles : 2). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278297 ms (missed cycles : 2).[0m ×2 + 24.42sWARNros2_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 + 25.17sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 25.18sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 25.23sINFOros2_control_node[2026-10-24 04:25:51.810] [info] Received new action goal ×2 + 25.23sINFOros2_control_node[2026-10-24 04:25:51.810] [info] Accepted new action goal ×2 + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699871 ms (missed cycles : 2). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699871 ms (missed cycles : 2).[0m ×2 + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068886 ms (missed cycles : 2). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068886 ms (missed cycles : 2).[0m ×2 + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688286 ms (missed cycles : 2). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688286 ms (missed cycles : 2).[0m ×2 + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802451 ms (missed cycles : 2). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802451 ms (missed cycles : 2).[0m ×2 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565500 ms (missed cycles : 2). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565500 ms (missed cycles : 2).[0m ×2 + 34.73sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 34.74sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.76sINFOros2_control_node[2026-10-24 04:26:01.344] [info] Received new action goal ×2 + 34.76sINFOros2_control_node[2026-10-24 04:26:01.344] [info] Accepted new action goal ×2 + 38.54sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792815965.12927985 seconds ×3 + 39.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 39.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 39.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 39.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 39.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 39.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 39.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 40.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 40.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.13sINFOobjective_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 + 40.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 40.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.72sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 40.79sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.90sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 40.90sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 40.91sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 40.91sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 69 warnings · 15574 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2563 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2563 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5126 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×5126 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234437 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234437 ms (missed cycles : 2).[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951634 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951634 ms (missed cycles : 2).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717895 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717895 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792815853.68531299 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792815854.33217263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOros2_control_node[2026-10-24 04:24:14.496] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-24 04:24:14.496] [info] Accepted new action goal ×2 + 5.43sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.49sINFOobjective_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 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776942 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776942 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004951 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004951 ms (missed cycles : 2).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227981 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227981 ms (missed cycles : 2).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857795 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857795 ms (missed cycles : 2).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744849 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744849 ms (missed cycles : 2).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495693 ms (missed cycles : 2). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495693 ms (missed cycles : 2).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660070 ms (missed cycles : 2). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660070 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817426 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817426 ms (missed cycles : 2).[0m ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993622 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993622 ms (missed cycles : 2).[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008270 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008270 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934174 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934174 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931981 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931981 ms (missed cycles : 2).[0m ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078637 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078637 ms (missed cycles : 2).[0m ×2 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443667 ms (missed cycles : 2). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443667 ms (missed cycles : 2).[0m ×2 + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752900 ms (missed cycles : 2). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752900 ms (missed cycles : 2).[0m ×2 + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092702 ms (missed cycles : 2). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092702 ms (missed cycles : 2).[0m ×2 + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2).[0m ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2).[0m ×2 + 25.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792815875.83493280 seconds ×3 + 26.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.17sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792815876.57770896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.45sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 26.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.46sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Received new action goal ×2 + 26.46sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Accepted new action goal ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.7s | 3 errors · 6 warnings · 183 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00337497 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.35sINFOros2_control_node[2026-10-24 04:21:55.901] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-24 04:21:55.901] [info] Accepted new action goal ×2 + 0.78sINFOros2_control_node[2026-10-24 04:21:56.333] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-10-24 04:21:56.333] [info] Accepted new action goal ×2 + 2.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.00sINFOobjective_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 + 3.00sERRORobjective_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: 1792815718.55452967 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792815719.24278545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (5.05e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.73sINFOros2_control_node[2026-10-24 04:22:00.277] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-10-24 04:22:00.277] [info] Accepted new action goal ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290561 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290561 ms (missed cycles : 2).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.340898 ms (missed cycles : 6). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.340898 ms (missed cycles : 6).[0m ×2 + 9.19sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.20sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.24sINFOros2_control_node[2026-10-24 04:22:04.793] [info] Received new action goal ×2 + 9.24sINFOros2_control_node[2026-10-24 04:22:04.793] [info] Accepted new action goal ×2 + 18.65sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.76sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 18.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.79sINFOros2_control_node[2026-10-24 04:22:14.337] [info] Received new action goal ×2 + 18.79sINFOros2_control_node[2026-10-24 04:22:14.337] [info] Accepted new action goal ×2 + 22.70sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792815738.25181150 seconds ×3 + 23.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.24sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.38sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792815738.93424129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.53sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 23.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.55sINFOros2_control_node[2026-10-24 04:22:19.099] [info] Received new action goal ×2 + 23.55sINFOros2_control_node[2026-10-24 04:22:19.099] [info] Accepted new action goal ×2 + 26.04sINFOros2_control_node[2026-10-24 04:22:21.591] [info] Received new action goal ×2 + 26.04sINFOros2_control_node[2026-10-24 04:22:21.591] [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: 1792815738.25181150 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 + 0.01sINFOcontroller_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 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: 1792815738.93424129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.85sINFOros2_control_node[2026-10-24 04:22:19.099] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-10-24 04:22:19.099] [info] Accepted new action goal ×2 + 3.34sINFOros2_control_node[2026-10-24 04:22:21.591] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-24 04:22:21.591] [info] Accepted new action goal ×2 + 11.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792815750.15254021 seconds ×3 + 12.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.44sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.50sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792815750.75421929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 12.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 12.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841831 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841831 ms (missed cycles : 3).[0m ×2 + 12.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792815750.82437897 seconds ×3 + 13.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.31sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.49sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 13.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.50sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 13.50sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 15.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 12 warnings · 220 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-10-24 04:23:16.396] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-10-24 04:23:16.396] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792815797.55284739 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.84sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792815798.33761621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.90sINFOros2_control_node[2026-10-24 04:23:19.393] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-10-24 04:23:19.393] [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 + 7.60sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.60sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.60sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.60sINFOros2_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 (3.76e-07 s). ×2 + 10.04sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.05sINFOros2_control_node[2026-10-24 04:23:25.545] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-10-24 04:23:25.545] [info] Accepted new action goal ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819263 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819263 ms (missed cycles : 2).[0m ×2 + 13.65sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792815809.14985442 seconds ×3 + 14.20sINFOobjective_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: ""
+ 14.20sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692540 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692540 ms (missed cycles : 2).[0m ×2 + 14.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792815809.77572441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 14.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.46sINFOros2_control_node[2026-10-24 04:23:29.950] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-10-24 04:23:29.950] [info] Accepted new action goal ×2 + 15.72sINFOobjective_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 + 15.73sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939215 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939215 ms (missed cycles : 2).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554384 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554384 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 15 warnings · 426 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.66sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.66sINFOobjective_server_nodecaller: ×12 + 0.66sINFOobjective_server_nodetype: 0 ×12 + 0.66sINFOobjective_server_nodename: "" ×12 + 0.66sINFOobjective_server_nodeinstance_id: "" ×12 + 0.66sINFOobjective_server_node ×12 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.84sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.36sINFOros2_control_node[2026-10-24 04:20:54.610] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-10-24 04:20:54.610] [info] Accepted new action goal ×2 + 9.98sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 10.00sINFOros2_control_node[2026-10-24 04:20:58.250] [info] Received new action goal ×2 + 10.00sINFOros2_control_node[2026-10-24 04:20:58.250] [info] Accepted new action goal ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696509 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696509 ms (missed cycles : 2).[0m ×2 + 13.31sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 13.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.33sINFOros2_control_node[2026-10-24 04:21:01.580] [info] Received new action goal ×2 + 13.33sINFOros2_control_node[2026-10-24 04:21:01.580] [info] Accepted new action goal ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814870 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814870 ms (missed cycles : 2).[0m ×2 + 14.20sINFOobjective_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 + 14.21sINFOros2_control_node[2026-10-24 04:21:02.455] [info] Got request to cancel active goal. ×2 + 14.21sINFOros2_control_node[2026-10-24 04:21:02.455] [info] Canceling active goal... ×2 + 14.23sERRORobjective_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: 1792815662.48222685 seconds ×3 + 14.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.77sINFOobjective_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: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792815663.13131142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 15.13sINFOros2_control_node[2026-10-24 04:21:03.375] [info] Received new action goal ×2 + 15.13sINFOros2_control_node[2026-10-24 04:21:03.375] [info] Accepted new action goal ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679782 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679782 ms (missed cycles : 2).[0m ×2 + 17.40sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 17.40sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.42sINFOros2_control_node[2026-10-24 04:21:05.666] [info] Received new action goal ×2 + 17.42sINFOros2_control_node[2026-10-24 04:21:05.666] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 31 warnings · 237 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 0.11sINFOros2_control_node[2026-10-24 04:21:01.580] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-24 04:21:01.580] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814870 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814870 ms (missed cycles : 2).[0m ×2 + 0.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.99sINFOros2_control_node[2026-10-24 04:21:02.455] [info] Got request to cancel active goal. ×2 + 0.99sINFOros2_control_node[2026-10-24 04:21:02.455] [info] Canceling active goal... ×2 + 1.01sERRORobjective_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: 1792815662.48222685 seconds ×3 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.56sINFOobjective_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: ""
+ 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.56sINFOobjective_server_nodecaller: ×6 + 1.56sINFOobjective_server_nodetype: 0 ×6 + 1.56sINFOobjective_server_nodename: "" ×6 + 1.56sINFOobjective_server_nodeinstance_id: "" ×6 + 1.56sINFOobjective_server_node ×6 + 1.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792815663.13131142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 1.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.91sINFOros2_control_node[2026-10-24 04:21:03.375] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-10-24 04:21:03.375] [info] Accepted new action goal ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679782 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679782 ms (missed cycles : 2).[0m ×2 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOros2_control_node[2026-10-24 04:21:05.666] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-10-24 04:21:05.666] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708167 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708167 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752697 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752697 ms (missed cycles : 2).[0m ×2 + 8.24sWARNros2_control_nodeCamera render tick took 1.40 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874758 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874758 ms (missed cycles : 2).[0m ×2 + 9.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.37sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 9.66sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 9.66sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (5.16e-07 s). ×2 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 9.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 9.80sINFOobjective_server_nodeFound path in 1 iterations (0.00323305 s). ×2 + 9.99sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 10.09sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Received new action goal ×2 + 10.09sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Accepted new action goal ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2).[0m ×2 + 12.09sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Got request to cancel active goal. ×2 + 12.09sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Canceling active goal... ×2 + 12.10sERRORobjective_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: 1792815673.56889272 seconds ×3 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2).[0m ×2 + 12.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792815674.20369291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792815674.34386182 seconds ×3 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2).[0m ×2 + 13.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792815675.02326798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.75sINFOobjective_server_nodeFound path in 0 iterations (1.135e-06 s). ×2 + 13.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.76sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Received new action goal ×2 + 13.76sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Accepted new action goal ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 71 errors · 19 warnings · 437 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [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: 1792815977.45197320 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 ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792815978.07012367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792815979.22033429 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792815979.83436394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.39sINFOobjective_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 + 2.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792815979.83734822 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792815980.44307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792815980.48407650 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792815981.08882570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982307 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982307 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792815982.15900803 seconds ×3 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783471 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783471 ms (missed cycles : 2).[0m ×2 + 10.28sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.30sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.30sERRORweb_video_auth_proxy-25process has died [pid 8457, 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 + 10.30sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.30sERRORweb_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 + 10.30sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.31sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.31sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.32sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.32sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.32sINFOvideo_server-23process has finished cleanly [pid 8455] ×2 + 10.33sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.33sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.34sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.34sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.35sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.35sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.36sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.36sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.37sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.37sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.37sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.37sINFOcontroller_managerShutdown request received.... + 10.37sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.37sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.37sINFOvideo_server2026/10/24 04:26:27 INF shutting down gracefully ×2 + 10.37sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.37sINFOvideo_server2026/10/24 04:26:27 INF [WebRTC] closing ×2 + 10.37sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.37sINFOvideo_server2026/10/24 04:26:27 INF [RTSP] closing ×2 + 10.37sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.37sINFOvideo_server2026/10/24 04:26:27 INF waiting for running hooks ×2 + 10.37sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.37sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.38sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.38sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.38sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.38sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.38sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.38sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.38sINFOcontroller_managerShutting down the controller manager. + 10.38sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.38sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.38sERRORmove_groupStack trace (most recent call last) in thread 8850: ×2 + 10.38sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.38sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.38sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.38sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.38sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.38sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.38sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.38sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f936b8c5cc3, in __clone ×2 + 10.38sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.38sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.38sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.38sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.38sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.38sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.38sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.38sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.38sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.38sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.38sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f936b838b83, in ×2 + 10.38sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.38sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.38sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.38sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.38sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.38sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.38sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f936bac9db3, in ×2 + 10.38sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f936c233e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.38sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f936be5d620, in rclcpp::Rate::sleep() ×2 + 10.38sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f936bd9fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.39sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f936bd61087, in ×2 + 10.39sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f936ba98390, in __cxa_throw ×2 + 10.39sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f936ba82a54, in std::terminate() ×2 + 10.39sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f936ba980d9, in ×2 + 10.39sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f936ba82ff4, in ×2 + 10.39sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f936b7c48fe, in abort ×2 + 10.39sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f936b7e127d, in raise ×2 + 10.39sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f936b83ac0c, in pthread_kill ×2 + 10.39sERRORmove_groupAborted (Signal sent by tkill() 8371 0) ×2 + 10.39sERRORmove_group-9process has died [pid 8371, 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_azlodpjs --params-file /tmp/launch_params_m_kx8g1r --params-file /tmp/launch_params_ylzmkb0s --params-file /tmp/launch_params_neigonc0 --params-file /tmp/launch_params_tf_jdfno --params-file /tmp/launch_params_oge4br_d']. ×2 + 10.58sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.58sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.34sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.34sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.34sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOjoint_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 + 11.34sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.34sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.34sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.35sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.35sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.35sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.35sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.35sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.35sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.35sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.35sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.35sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.35sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8454] ×2 + 11.36sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.40sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8375] ×2 + 11.40sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8374] ×2 + 11.41sERRORjoint_state_visualization_relay-21process has died [pid 8452, 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_9otnwa7w']. ×2 + 11.41sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.41sINFOtf_visualization_relay-20process has finished cleanly [pid 8441] ×2 + 11.41sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.43sINFOwaypoint_manager_node-11process has finished cleanly [pid 8373] ×2 + 11.44sINFOui_teleop_bridge-18process has finished cleanly [pid 8380] ×2 + 11.44sINFOparameter_manager_node-10process has finished cleanly [pid 8372] ×2 + 11.45sINFOexecute_objective_bridge-17process has finished cleanly [pid 8379] ×2 + 11.50sINFOcomponent_container_mt-16process has finished cleanly [pid 8378] ×2 + 11.55sINFOobjective_server_node[0;m[2026-10-24 04:26:28.999] [moveit_pro_license] [info] ×2 + 11.55sINFOobjective_server_node************************************************* ×4 + 11.55sINFOobjective_server_node* MoveIt Pro License ×2 + 11.55sINFOobjective_server_node* Application has successfully terminated ×2 + 11.83sINFOobjective_server_node_main-14process has finished cleanly [pid 8376] ×2 + 11.83sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.51sINFOweb_bridge-19process has finished cleanly [pid 8381] ×2 + 12.51sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.53sINFOcomponent_container_mt-15process has finished cleanly [pid 8377] ×2 + 13.04sINFOros2_control_node-1process has finished cleanly [pid 8320] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 29 warnings · 2570 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×395 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×395 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×790 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×790 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792815875.83493280 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.02sINFOobjective_server_nodecaller: ×4 + 4.02sINFOobjective_server_nodetype: 0 ×4 + 4.02sINFOobjective_server_nodename: "" ×4 + 4.02sINFOobjective_server_nodeinstance_id: "" ×4 + 4.02sINFOobjective_server_node ×4 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792815876.57770896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.21sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211117 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211117 ms (missed cycles : 2).[0m ×2 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.33sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.34sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926963 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926963 ms (missed cycles : 2).[0m ×2 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.73sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.75sINFOobjective_server_nodeFound path in 1 iterations (0.00426035 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X__________________X] ×2 + 8.96sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.98sINFOros2_control_node[2026-10-24 04:24:41.438] [info] Received new action goal ×2 + 8.98sINFOros2_control_node[2026-10-24 04:24:41.438] [info] Accepted new action goal ×2 + 9.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888471 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888471 ms (missed cycles : 2).[0m ×2 + 11.28sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 12.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.90sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 12.90sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 14.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 14.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.06sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.32sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 15.34sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 15.34sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 15.79sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 17.25sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 17 warnings · 208 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: 1792815704.60842633 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 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.90sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792815708.20426655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 4.11sINFOros2_control_node[2026-10-24 04:21:48.418] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-10-24 04:21:48.418] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316510 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316510 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149160 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149160 ms (missed cycles : 2).[0m ×2 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 1 iterations (0.00463255 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.212514 ms (missed cycles : 8). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.212514 ms (missed cycles : 8).[0m ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.63sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.71sINFOros2_control_node[2026-10-24 04:21:53.021] [info] Received new action goal ×2 + 8.71sINFOros2_control_node[2026-10-24 04:21:53.021] [info] Accepted new action goal ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694991 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694991 ms (missed cycles : 2).[0m ×2 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 11.24sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.26sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 11.37sINFOobjective_server_nodeFound path in 1 iterations (0.00337497 s). ×2 + 11.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.59sINFOros2_control_node[2026-10-24 04:21:55.901] [info] Received new action goal ×2 + 11.59sINFOros2_control_node[2026-10-24 04:21:55.901] [info] Accepted new action goal ×2 + 12.03sINFOros2_control_node[2026-10-24 04:21:56.333] [info] Received new action goal ×2 + 12.03sINFOros2_control_node[2026-10-24 04:21:56.333] [info] Accepted new action goal ×2 + 14.24sINFOobjective_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 + 14.25sERRORobjective_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: 1792815718.55452967 seconds ×3 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.93sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792815719.24278545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.96sINFOobjective_server_nodeFound path in 0 iterations (5.05e-07 s). ×2 + 15.97sINFOros2_control_node[2026-10-24 04:22:00.277] [info] Received new action goal ×2 + 15.97sINFOros2_control_node[2026-10-24 04:22:00.277] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 18 warnings · 141 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681018 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681018 ms (missed cycles : 2).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674556 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674556 ms (missed cycles : 2).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756496 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756496 ms (missed cycles : 2).[0m ×2 + 14.20sINFOobjective_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 + 14.21sERRORobjective_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: 1792815897.95602512 seconds ×3 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750617 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750617 ms (missed cycles : 2).[0m ×2 + 14.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792815898.59780192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 15.17sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.19sINFOros2_control_node[2026-10-24 04:24:58.932] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-10-24 04:24:58.932] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 23 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.47sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.48sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.76sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 6.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.93sINFOobjective_server_nodeFound path in 1 iterations (0.0044464 s). ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150242 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150242 ms (missed cycles : 3).[0m ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 7.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.63sWARNros2_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 + 7.70sINFOros2_control_node[2026-10-24 04:21:42.043] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-10-24 04:21:42.043] [info] Accepted new action goal ×2 + 9.97sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.24sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1792815704.60842633 seconds ×3 + 10.27sINFOobjective_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 + 13.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.86sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792815708.20426655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.06sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 14.08sINFOros2_control_node[2026-10-24 04:21:48.418] [info] Received new action goal ×2 + 14.08sINFOros2_control_node[2026-10-24 04:21:48.418] [info] Accepted new action goal ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316510 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316510 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 18 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792815908.52542973 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 + 0.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792815909.15320110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-10-24 04:25:09.279] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-10-24 04:25:09.279] [info] Accepted new action goal ×2 + 2.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757835 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757835 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845954 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845954 ms (missed cycles : 2).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903776 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903776 ms (missed cycles : 2).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015899 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015899 ms (missed cycles : 2).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021570 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021570 ms (missed cycles : 2).[0m ×2 + 10.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792815919.45355344 seconds ×3 + 11.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.47sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.54sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1792815920.06592059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.68sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.70sINFOros2_control_node[2026-10-24 04:25:20.221] [info] Received new action goal ×2 + 11.70sINFOros2_control_node[2026-10-24 04:25:20.221] [info] Accepted new action goal ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 24 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792815684.89348459 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.18sINFOobjective_server_nodecaller: ×6 + 2.18sINFOobjective_server_nodetype: 0 ×6 + 2.18sINFOobjective_server_nodename: "" ×6 + 2.18sINFOobjective_server_nodeinstance_id: "" ×6 + 2.18sINFOobjective_server_node ×6 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792815685.51861525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792815685.59880304 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792815686.25782275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (5.78e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.50sINFOros2_control_node[2026-10-24 04:21:29.753] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-10-24 04:21:29.753] [info] Accepted new action goal ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680105 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680105 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703149 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703149 ms (missed cycles : 2).[0m ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 8.83sINFOros2_control_node[2026-10-24 04:21:32.089] [info] Received new action goal ×2 + 8.83sINFOros2_control_node[2026-10-24 04:21:32.089] [info] Accepted new action goal ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937219 ms (missed cycles : 2). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937219 ms (missed cycles : 2).[0m ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (7.73e-07 s). ×2 + 11.18sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 11.18sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 13.29sINFOobjective_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 + 13.29sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 13.29sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 13.29sERRORobjective_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: 1792815696.55071306 seconds ×3 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 13.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.87sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.95sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 14.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.15sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 14.15sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 3 errors · 14 warnings · 388 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ 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: ×12 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.64sINFOobjective_server_nodecaller: ×12 + 0.64sINFOobjective_server_nodetype: 0 ×12 + 0.64sINFOobjective_server_nodename: "" ×12 + 0.64sINFOobjective_server_nodeinstance_id: "" ×12 + 0.64sINFOobjective_server_node ×12 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Accepted new action goal ×2 + 5.66sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.66sINFOros2_control_node[2026-10-24 04:26:10.791] [info] Received new action goal ×2 + 5.66sINFOros2_control_node[2026-10-24 04:26:10.791] [info] Accepted new action goal ×2 + 5.66sINFOros2_control_node[2026-10-24 04:26:10.791] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 12.32sINFOobjective_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 + 12.32sINFOros2_control_node[2026-10-24 04:26:17.446] [info] Got request to cancel active goal. ×2 + 12.32sINFOros2_control_node[2026-10-24 04:26:17.446] [info] Canceling active goal... ×2 + 12.32sERRORobjective_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: 1792815977.45197320 seconds ×3 + 12.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.87sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792815978.07012367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3).[0m ×2 + 14.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792815979.22033429 seconds ×3 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2).[0m ×2 + 14.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.71sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792815979.83436394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.71sINFOobjective_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 + 14.71sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.71sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792815979.83734822 seconds ×3 + 14.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 15.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.25sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792815980.44307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792815980.48407650 seconds ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 15 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756496 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756496 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_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 + 1.93sERRORobjective_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: 1792815897.95602512 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750617 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750617 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792815898.59780192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 2.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.91sINFOros2_control_node[2026-10-24 04:24:58.932] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-24 04:24:58.932] [info] Accepted new action goal ×2 + 6.92sINFOros2_control_node[2026-10-24 04:25:02.941] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-10-24 04:25:02.941] [info] Accepted new action goal ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833441 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833441 ms (missed cycles : 2).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810611 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810611 ms (missed cycles : 2).[0m ×2 + 12.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792815908.52542973 seconds ×3 + 13.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.04sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792815909.15320110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 13.24sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.25sINFOros2_control_node[2026-10-24 04:25:09.279] [info] Received new action goal ×2 + 13.25sINFOros2_control_node[2026-10-24 04:25:09.279] [info] Accepted new action goal ×2 + 15.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757835 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757835 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record Square Trajectory | record_square_trajectory.xml | 10.5s | 3 errors · 18 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015899 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015899 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021570 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021570 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1792815919.45355344 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1792815920.06592059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.84sINFOros2_control_node[2026-10-24 04:25:20.221] [info] Received new action goal ×2 + 2.84sINFOros2_control_node[2026-10-24 04:25:20.221] [info] Accepted new action goal ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 7.18sINFOros2_control_node[2026-10-24 04:25:24.562] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-10-24 04:25:24.562] [info] Accepted new action goal ×2 + 9.20sINFOros2_control_node[2026-10-24 04:25:26.583] [info] Received new action goal ×2 + 9.20sINFOros2_control_node[2026-10-24 04:25:26.583] [info] Accepted new action goal ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786491 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786491 ms (missed cycles : 2).[0m ×2 + 9.70sINFOros2_control_node[2026-10-24 04:25:27.085] [info] Received new action goal ×2 + 9.70sINFOros2_control_node[2026-10-24 04:25:27.085] [info] Accepted new action goal ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772482 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772482 ms (missed cycles : 2).[0m ×2 + 11.78sINFOros2_control_node[2026-10-24 04:25:29.156] [info] Received new action goal ×2 + 11.78sINFOros2_control_node[2026-10-24 04:25:29.157] [info] Accepted new action goal ×2 + 12.59sINFOobjective_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 + 12.59sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1792815929.97226214 seconds ×3 + 13.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.14sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669664 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669664 ms (missed cycles : 2).[0m ×2 + 13.25sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792815930.63579535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.27sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 14.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.29sINFOros2_control_node[2026-10-24 04:25:31.671] [info] Received new action goal ×2 + 14.29sINFOros2_control_node[2026-10-24 04:25:31.671] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.5s | 3 errors · 21 warnings · 289 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 1 iterations (0.00323305 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Canceling active goal... ×2 + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792815673.56889272 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.96sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.96sINFOobjective_server_nodecaller: ×8 + 2.96sINFOobjective_server_nodetype: 0 ×8 + 2.96sINFOobjective_server_nodename: "" ×8 + 2.96sINFOobjective_server_nodeinstance_id: "" ×8 + 2.96sINFOobjective_server_node ×8 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792815674.20369291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792815674.34386182 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792815675.02326798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (1.135e-06 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413357 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413357 ms (missed cycles : 4).[0m ×2 + 7.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.81sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (5.97e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 1 iterations (0.00384276 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X__________________X] ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959972 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959972 ms (missed cycles : 2).[0m ×2 + 8.50sINFOros2_control_node[2026-10-24 04:21:19.651] [info] Received new action goal ×2 + 8.50sINFOros2_control_node[2026-10-24 04:21:19.651] [info] Accepted new action goal ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685453 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685453 ms (missed cycles : 2).[0m ×2 + 10.80sINFOros2_control_node[2026-10-24 04:21:21.954] [info] Received new action goal ×2 + 10.80sINFOros2_control_node[2026-10-24 04:21:21.954] [info] Accepted new action goal ×2 + 12.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.45sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Received new action goal ×2 + 12.45sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Accepted new action goal ×2 + 13.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792815684.89348459 seconds ×3 + 14.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.28sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792815685.51861525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792815685.59880304 seconds ×3 + 15.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.04sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792815686.25782275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 15.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.23sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Received new action goal ×2 + 15.23sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 6 warnings · 205 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792815750.15254021 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 + 0.02sINFOros2_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: 1792815750.75421929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841831 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841831 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792815750.82437897 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.60sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 1.60sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792815755.39057016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.32sINFOobjective_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 + 5.33sINFOobjective_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 + 5.60sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.66sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Received new action goal ×2 + 5.66sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 3 errors · 15 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [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: 1792815977.45197320 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 ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792815978.07012367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792815979.22033429 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792815979.83436394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.39sINFOobjective_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 + 2.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792815979.83734822 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792815980.44307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792815980.48407650 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792815981.08882570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982307 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982307 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792815982.15900803 seconds ×3 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783471 ms (missed cycles : 2). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 11 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2).[0m ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.07sINFOobjective_server_nodecaller: ×14 + 1.07sINFOobjective_server_nodetype: 0 ×14 + 1.07sINFOobjective_server_nodename: "" ×14 + 1.07sINFOobjective_server_nodeinstance_id: "" ×14 + 1.07sINFOobjective_server_node ×14 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [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: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ 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 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 17 warnings · 147 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874758 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874758 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.07sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.16e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00323305 s). ×2 + 0.70sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1792815673.56889272 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792815674.20369291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792815674.34386182 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792815675.02326798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.135e-06 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.47sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 3 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:21:21.954] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:21:21.954] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792815684.89348459 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792815685.51861525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792815685.59880304 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792815686.25782275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.43sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Accepted new action goal ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2).[0m ×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: 1792815750.15254021 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 + 0.02sINFOros2_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: 1792815750.75421929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841831 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841831 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792815750.82437897 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.60sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 1.60sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 11 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2).[0m ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.07sINFOobjective_server_nodecaller: ×14 + 1.07sINFOobjective_server_nodetype: 0 ×14 + 1.07sINFOobjective_server_nodename: "" ×14 + 1.07sINFOobjective_server_nodeinstance_id: "" ×14 + 1.07sINFOobjective_server_node ×14 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| ✓ 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 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [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: 1792815977.45197320 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 ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792815978.07012367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792815979.22033429 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792815979.83436394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.39sINFOobjective_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 + 2.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792815979.83734822 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792815980.44307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792815980.48407650 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792815981.08882570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982307 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982307 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792815982.15900803 seconds ×3 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783471 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783471 ms (missed cycles : 2).[0m ×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: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ 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 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [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 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [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: 1792815977.45197320 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 ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792815978.07012367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792815979.22033429 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792815979.83436394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.39sINFOobjective_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 + 2.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792815979.83734822 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792815980.44307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792815980.48407650 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792815981.08882570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982307 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982307 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792815982.15900803 seconds ×3 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783471 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783471 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.1s | 3 errors · 12 warnings · 135 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 1 iterations (0.00323305 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Canceling active goal... ×2 + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792815673.56889272 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792815674.20369291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792815674.34386182 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792815675.02326798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (1.135e-06 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_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 · 2458 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×395 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×395 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×790 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×790 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792815875.83493280 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792815876.57770896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 17 warnings · 147 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874758 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874758 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.07sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.16e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00323305 s). ×2 + 0.70sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1792815673.56889272 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792815674.20369291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792815674.34386182 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792815675.02326798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.135e-06 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.47sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 17 warnings · 147 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874758 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874758 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.07sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.16e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00323305 s). ×2 + 0.70sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1792815673.56889272 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792815674.20369291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792815674.34386182 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792815675.02326798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.135e-06 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.47sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 12 warnings · 135 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 1 iterations (0.00323305 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Canceling active goal... ×2 + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792815673.56889272 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792815674.20369291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792815674.34386182 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792815675.02326798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (1.135e-06 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 12 warnings · 135 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 1 iterations (0.00323305 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Canceling active goal... ×2 + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792815673.56889272 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792815674.20369291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792815674.34386182 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792815675.02326798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (1.135e-06 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 12 warnings · 135 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 1 iterations (0.00323305 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-10-24 04:21:11.556] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237726 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-10-24 04:21:13.555] [info] Canceling active goal... ×2 + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792815673.56889272 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759186 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792815674.20369291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792815674.34386182 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705145 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792815675.02326798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (1.135e-06 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-10-24 04:21:15.227] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251189 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792815684.89348459 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792815685.51861525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792815685.59880304 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792815686.25782275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792815684.89348459 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792815685.51861525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792815685.59880304 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792815686.25782275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792815684.89348459 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792815685.51861525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792815685.59880304 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792815686.25782275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792815684.89348459 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792815685.51861525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792815685.59880304 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792815686.25782275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-24 04:21:23.597] [info] Accepted new action goal ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792815684.89348459 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792815685.51861525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792815685.59880304 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792815686.25782275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-10-24 04:21:26.383] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 12 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 (7.73e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-24 04:21:34.439] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994932 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-10-24 04:21:36.548] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1792815696.55071306 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676911 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792815697.20613647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-24 04:21:37.401] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007672 ms (missed cycles : 4).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849575 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 94 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00337497 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.35sINFOros2_control_node[2026-10-24 04:21:55.901] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-24 04:21:55.901] [info] Accepted new action goal ×2 + 0.78sINFOros2_control_node[2026-10-24 04:21:56.333] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-10-24 04:21:56.333] [info] Accepted new action goal ×2 + 2.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.00sINFOobjective_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 + 3.00sERRORobjective_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: 1792815718.55452967 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792815719.24278545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (5.05e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.73sINFOros2_control_node[2026-10-24 04:22:00.277] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-10-24 04:22:00.277] [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: 1792815750.15254021 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 + 0.02sINFOros2_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: 1792815750.75421929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841831 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841831 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792815750.82437897 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.60sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 1.60sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792815755.39057016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792815755.39057016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792815755.39057016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792815755.39057016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792815755.39057016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792815755.39057016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792815751.63353586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-24 04:22:31.748] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792815753.75371122 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883303 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792815755.39057016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-24 04:22:35.808] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 12 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819263 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819263 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792815809.14985442 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.77sINFOobjective_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: ""
+ 1.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.77sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 1.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.77sINFOobjective_server_nodecaller: ×2 + 1.77sINFOobjective_server_nodetype: 0 ×2 + 1.77sINFOobjective_server_nodename: "" ×2 + 1.77sINFOobjective_server_nodeinstance_id: "" ×2 + 1.77sINFOobjective_server_node ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692540 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692540 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792815809.77572441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.02sINFOros2_control_node[2026-10-24 04:23:29.950] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-10-24 04:23:29.950] [info] Accepted new action goal ×2 + 3.29sINFOobjective_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 + 3.30sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939215 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939215 ms (missed cycles : 2).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554384 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554384 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 12 warnings · 2458 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×395 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×395 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×790 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×790 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792815875.83493280 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792815876.57770896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 12 warnings · 2458 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×395 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×395 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×790 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×790 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792815875.83493280 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792815876.57770896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 12 warnings · 2458 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×395 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×395 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×790 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×790 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792815875.83493280 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792815876.57770896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 12 warnings · 2458 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×395 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×395 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×790 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×790 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013778 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809963 ms (missed cycles : 2).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339312 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792815875.83493280 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792815876.57770896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-24 04:24:36.772] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403174 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 6 warnings · 80 info |
+ 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-24 04:24:43.741] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773922 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-24 04:24:45.365] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792815886.66131449 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792815887.61541700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-24 04:24:47.800] [info] Accepted new action goal ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781867 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 6 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756496 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756496 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_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 + 1.93sERRORobjective_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: 1792815897.95602512 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750617 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750617 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792815898.59780192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 2.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.91sINFOros2_control_node[2026-10-24 04:24:58.932] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-24 04:24:58.932] [info] Accepted new action goal ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 3 warnings · 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792815908.52542973 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 + 0.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792815909.15320110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-10-24 04:25:09.279] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-10-24 04:25:09.279] [info] Accepted new action goal ×2 + 2.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757835 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757835 ms (missed cycles : 2).[0m ×2 | ||||
| − 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: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ 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 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [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: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ 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 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [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: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ 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 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [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: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ 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 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [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: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ 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 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [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: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ 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 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [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: 1792815965.12927985 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ 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 + 0.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792815966.01741600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719778 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792815966.07762980 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792815966.68821812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792815966.70977139 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792815967.37649393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-24 04:26:07.491] [info] Accepted new action goal ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 11 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [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: 1792815977.45197320 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 ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_nodecaller: ×6 + 0.55sINFOobjective_server_nodetype: 0 ×6 + 0.55sINFOobjective_server_nodename: "" ×6 + 0.55sINFOobjective_server_nodeinstance_id: "" ×6 + 0.55sINFOobjective_server_node ×6 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792815978.07012367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792815979.22033429 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792815979.83436394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.39sINFOobjective_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 + 2.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792815979.83734822 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792815980.44307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792815980.48407650 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 11 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-24 04:26:17.446] [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: 1792815977.45197320 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 ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_nodecaller: ×6 + 0.55sINFOobjective_server_nodetype: 0 ×6 + 0.55sINFOobjective_server_nodename: "" ×6 + 0.55sINFOobjective_server_nodeinstance_id: "" ×6 + 0.55sINFOobjective_server_node ×6 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792815978.07012367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106235 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792815979.22033429 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505613 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792815979.83436394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.39sINFOobjective_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 + 2.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792815979.83734822 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792815980.44307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792815980.48407650 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 13.1s | 35 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/2026-10-24-04-20-33-714575-28c8449e3a4c-8272 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.71sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.72sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.72sINFOcontroller_managerupdate rate is 600 Hz + 0.72sINFOcontroller_managerOverruns handling is : enabled + 0.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.72sWARNcontroller_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. + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070712 ms (missed cycles : 3). + 0.99sINFOros2_control_node-1process started with pid [8320] ×2 + 0.99sINFOmove_group-9process started with pid [8371] ×2 + 0.99sINFOparameter_manager_node-10process started with pid [8372] ×2 + 0.99sINFOwaypoint_manager_node-11process started with pid [8373] ×2 + 0.99sINFOmove_joint_resampler_node-12process started with pid [8374] ×2 + 0.99sINFOmove_end_effector_resampler_node-13process started with pid [8375] ×2 + 1.00sINFOobjective_server_node_main-14process started with pid [8376] ×2 + 1.00sINFOcomponent_container_mt-15process started with pid [8377] ×2 + 1.00sINFOcomponent_container_mt-16process started with pid [8378] ×2 + 1.00sINFOexecute_objective_bridge-17process started with pid [8379] ×2 + 1.00sINFOui_teleop_bridge-18process started with pid [8380] ×2 + 1.00sINFOweb_bridge-19process started with pid [8381] ×2 + 1.00sINFOtf_visualization_relay-20process started with pid [8441] ×2 + 1.00sINFOjoint_state_visualization_relay-21process started with pid [8452] ×2 + 1.00sINFOtf2_web_republisher_node-22process started with pid [8454] ×2 + 1.00sINFOvideo_server-23process started with pid [8455] ×2 + 1.00sINFOweb_bridge_auth_proxy-24process started with pid [8456] ×2 + 1.00sINFOweb_video_auth_proxy-25process started with pid [8457] ×2 + 1.00sINFOros2-2process started with pid [8321] ×2 + 1.00sINFOros2-3process started with pid [8322] ×2 + 1.00sINFOros2-4process started with pid [8323] ×2 + 1.00sINFOros2-5process started with pid [8324] ×2 + 1.00sINFOros2-6process started with pid [8325] ×2 + 1.00sINFOros2-7process started with pid [8326] ×2 + 1.00sINFOros2-8process started with pid [8327] ×2 + 1.03sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.03sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.03sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.03sWARNros2_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 + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070712 ms (missed cycles : 3).[0m ×2 + 1.03sINFOcontroller_managerReceived robot description from topic. + 1.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.04sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.06sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.28sINFOvideo_server2026/10/24 04:20:35 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.29sINFOvideo_server2026/10/24 04:20:35 INF configuration loaded from /tmp/moveit-webrtc-r1kaj1ra/mediamtx.yml ×2 + 1.29sINFOvideo_server2026/10/24 04:20:35 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.29sINFOvideo_server2026/10/24 04:20:35 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.73sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.73sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.05sINFOmove_group[2026-10-24 04:20:36.119] [moveit_pro_license] [info] ×2 + 2.05sINFOmove_group************************************************* ×4 + 2.05sINFOmove_group* MoveIt Pro License ×2 + 2.05sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363973 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363973 ms (missed cycles : 3).[0m ×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 + 2.20sINFOros2_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 + 2.20sINFOros2_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 + 2.35sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.37sINFOweb_video_auth_proxy2026-10-24 04:20:36,443 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.38sINFOweb_video_auth_proxy2026-10-24 04:20:36,446 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.38sINFOweb_bridge_auth_proxy2026-10-24 04:20:36,449 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.41sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.59sINFOmove_group ×4 + 2.59sINFOmove_group[92mYou can start planning now![0m ×2 + 2.75sINFOwaypoint_manager_node[2026-10-24 04:20:36.824] [moveit_pro_license] [info] ×2 + 2.75sINFOwaypoint_manager_node************************************************* ×4 + 2.75sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.75sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.86sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.73sINFOobjective_server_node[2026-10-24 04:20:37.804] [moveit_pro_license] [info] ×2 + 3.73sINFOobjective_server_node************************************************* ×4 + 3.73sINFOobjective_server_node* MoveIt Pro License ×2 + 3.73sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.88sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.14sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.14sINFOros2_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 + 4.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.15sWARNros2_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 + 4.15sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.15sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.15sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.15sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.15sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.15sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.15sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.15sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.15sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755232 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755232 ms (missed cycles : 2).[0m ×2 + 4.20sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.20sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.23sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.23sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.24sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj + 4.24sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj [0m ×2 + 4.25sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.25sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.26sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.26sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.26sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.26sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.26sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.26sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.27sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.27sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.55sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.55sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.55sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.55sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.61sINFOros2-3process has finished cleanly [pid 8322] ×2 + 4.68sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj + 4.68sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj [0m ×2 + 4.74sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.74sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.78sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.78sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.78sINFOros2_control_node[2026-10-24 04:20:38.853] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.78sINFOros2_control_node[2026-10-24 04:20:38.853] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.79sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.79sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 4.79sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.79sWARNros2_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 + 4.81sINFOros2_control_node[2026-10-24 04:20:38.883] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.81sINFOros2_control_node[2026-10-24 04:20:38.883] [info] Controller state will be published at 50 Hz. ×2 + 4.82sINFOros2_control_node[2026-10-24 04:20:38.893] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.05sINFOcomponent_container_mt[2026-10-24 04:20:39.122] [moveit_pro_license] [info] ×2 + 5.05sINFOcomponent_container_mt************************************************* ×4 + 5.05sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.05sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj + 5.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj [0m ×2 + 5.17sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.17sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.18sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.18sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.18sINFOforce_torque_sensor_broadcasterconfigure successful + 5.18sINFOros2_control_nodeconfigure successful[0m ×2 + 5.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.19sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.19sINFOros2-6process has finished cleanly [pid 8325] ×2 + 5.19sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.19sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730630 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730630 ms (missed cycles : 2).[0m ×2 + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.47sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj + 5.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj [0m ×2 + 5.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.55sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.55sINFOros2-2process has finished cleanly [pid 8321] ×2 + 5.95sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.95sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.95sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.95sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.00sINFOros2-4process has finished cleanly [pid 8323] ×2 + 6.02sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj + 6.02sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj [0m ×2 + 6.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.07sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.11sINFOros2_control_node[2026-10-24 04:20:40.175] [info] Controller state will be published at 10 Hz. ×2 + 6.11sINFOros2_control_node[2026-10-24 04:20:40.176] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744527 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744527 ms (missed cycles : 2).[0m ×2 + 6.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj + 6.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj [0m ×2 + 6.50sINFOros2-7process has finished cleanly [pid 8326] ×2 + 6.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.56sINFOros2_control_node[2026-10-24 04:20:40.629] [info] Controller state will be published at 20 Hz. ×2 + 6.56sINFOros2_control_node[2026-10-24 04:20:40.630] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.60sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.91sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj + 6.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_f8htrrzi --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_1tyh2u7w --params-file /tmp/launch_params_87yl46hj [0m ×2 + 6.94sINFOros2-8process has finished cleanly [pid 8327] ×2 + 6.98sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.98sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.98sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.98sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.98sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.98sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.98sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.98sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.98sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.98sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.99sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.99sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.99sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.99sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.32sINFOros2-5process has finished cleanly [pid 8324] ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2).[0m ×2 + 11.90sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 12.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 12.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 12.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 12.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 12.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 12.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 12.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 12.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 12.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 12.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 12.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 12.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 12.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 12.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 12.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 12.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 12.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 12.68sINFOobjective_server_nodecaller: ×10 + 12.68sINFOobjective_server_nodetype: 0 ×10 + 12.68sINFOobjective_server_nodename: "" ×10 + 12.68sINFOobjective_server_nodeinstance_id: "" ×10 + 12.68sINFOobjective_server_node ×10 + 12.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 seconds ×3 + 13.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 13.36sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 13.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 14.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 14.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 14.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 15.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 15.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 16.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 16.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 6 warnings · 386 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 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 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 5.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.34sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 8 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.78sINFOobjective_server_nodecaller: ×14 + 0.78sINFOobjective_server_nodetype: 0 ×14 + 0.78sINFOobjective_server_nodename: "" ×14 + 0.78sINFOobjective_server_nodeinstance_id: "" ×14 + 0.78sINFOobjective_server_node ×14 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 seconds ×3 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.12sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 157 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/2026-10-24-04-20-33-714575-28c8449e3a4c-8272 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.71sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.72sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.72sINFOcontroller_managerupdate rate is 600 Hz + 0.72sINFOcontroller_managerOverruns handling is : enabled + 0.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.72sWARNcontroller_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. + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070712 ms (missed cycles : 3). + 0.99sINFOros2_control_node-1process started with pid [8320] ×2 + 0.99sINFOmove_group-9process started with pid [8371] ×2 + 0.99sINFOparameter_manager_node-10process started with pid [8372] ×2 + 0.99sINFOwaypoint_manager_node-11process started with pid [8373] ×2 + 0.99sINFOmove_joint_resampler_node-12process started with pid [8374] ×2 + 0.99sINFOmove_end_effector_resampler_node-13process started with pid [8375] ×2 + 1.00sINFOobjective_server_node_main-14process started with pid [8376] ×2 + 1.00sINFOcomponent_container_mt-15process started with pid [8377] ×2 + 1.00sINFOcomponent_container_mt-16process started with pid [8378] ×2 + 1.00sINFOexecute_objective_bridge-17process started with pid [8379] ×2 + 1.00sINFOui_teleop_bridge-18process started with pid [8380] ×2 + 1.00sINFOweb_bridge-19process started with pid [8381] ×2 + 1.00sINFOtf_visualization_relay-20process started with pid [8441] ×2 + 1.00sINFOjoint_state_visualization_relay-21process started with pid [8452] ×2 + 1.00sINFOtf2_web_republisher_node-22process started with pid [8454] ×2 + 1.00sINFOvideo_server-23process started with pid [8455] ×2 + 1.00sINFOweb_bridge_auth_proxy-24process started with pid [8456] ×2 + 1.00sINFOweb_video_auth_proxy-25process started with pid [8457] ×2 + 1.00sINFOros2-2process started with pid [8321] ×2 + 1.00sINFOros2-3process started with pid [8322] ×2 + 1.00sINFOros2-4process started with pid [8323] ×2 + 1.00sINFOros2-5process started with pid [8324] ×2 + 1.00sINFOros2-6process started with pid [8325] ×2 + 1.00sINFOros2-7process started with pid [8326] ×2 + 1.00sINFOros2-8process started with pid [8327] ×2 + 1.03sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.03sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.03sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.03sWARNros2_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 + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070712 ms (missed cycles : 3).[0m ×2 + 1.03sINFOcontroller_managerReceived robot description from topic. + 1.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.04sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.06sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.28sINFOvideo_server2026/10/24 04:20:35 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.29sINFOvideo_server2026/10/24 04:20:35 INF configuration loaded from /tmp/moveit-webrtc-r1kaj1ra/mediamtx.yml ×2 + 1.29sINFOvideo_server2026/10/24 04:20:35 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.29sINFOvideo_server2026/10/24 04:20:35 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.73sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.73sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.05sINFOmove_group[2026-10-24 04:20:36.119] [moveit_pro_license] [info] ×2 + 2.05sINFOmove_group************************************************* ×4 + 2.05sINFOmove_group* MoveIt Pro License ×2 + 2.05sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363973 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363973 ms (missed cycles : 3).[0m ×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 + 2.20sINFOros2_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 + 2.20sINFOros2_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 + 2.35sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.37sINFOweb_video_auth_proxy2026-10-24 04:20:36,443 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.38sINFOweb_video_auth_proxy2026-10-24 04:20:36,446 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.38sINFOweb_bridge_auth_proxy2026-10-24 04:20:36,449 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.41sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.59sINFOmove_group ×4 + 2.59sINFOmove_group[92mYou can start planning now![0m ×2 + 2.75sINFOwaypoint_manager_node[2026-10-24 04:20:36.824] [moveit_pro_license] [info] ×2 + 2.75sINFOwaypoint_manager_node************************************************* ×4 + 2.75sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.75sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.86sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 11 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2).[0m ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.07sINFOobjective_server_nodecaller: ×14 + 1.07sINFOobjective_server_nodetype: 0 ×14 + 1.07sINFOobjective_server_nodename: "" ×14 + 1.07sINFOobjective_server_nodeinstance_id: "" ×14 + 1.07sINFOobjective_server_node ×14 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 11 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2).[0m ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.07sINFOobjective_server_nodecaller: ×14 + 1.07sINFOobjective_server_nodetype: 0 ×14 + 1.07sINFOobjective_server_nodename: "" ×14 + 1.07sINFOobjective_server_nodeinstance_id: "" ×14 + 1.07sINFOobjective_server_node ×14 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 11 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682207 ms (missed cycles : 2).[0m ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.07sINFOobjective_server_nodecaller: ×14 + 1.07sINFOobjective_server_nodetype: 0 ×14 + 1.07sINFOobjective_server_nodename: "" ×14 + 1.07sINFOobjective_server_nodeinstance_id: "" ×14 + 1.07sINFOobjective_server_node ×14 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 seconds ×3 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 8 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.78sINFOobjective_server_nodecaller: ×14 + 0.78sINFOobjective_server_nodetype: 0 ×14 + 0.78sINFOobjective_server_nodename: "" ×14 + 0.78sINFOobjective_server_nodeinstance_id: "" ×14 + 0.78sINFOobjective_server_node ×14 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 seconds ×3 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.12sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 6 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: 1792815646.80899644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792815646.81925130 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 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 5.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.34sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 6 warnings · 328 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 + 7.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.18sINFOros2_control_node[2026-10-24 04:20:54.610] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-10-24 04:20:54.610] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792815647.43074751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792815648.34093261 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792815648.97172761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792815649.03194523 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792815649.69358969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792815649.71375704 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792815650.32032967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792815650.47092009 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792815651.16930628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852602 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792815651.21947527 seconds ×3 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792815651.95525265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.4155e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-24 04:20:52.092] [info] Accepted new action goal ×2 | ||||