136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
10.3s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass60 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 9 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793750124.22890949 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 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Accepted new action goal ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 7.10sINFOros2_control_node[2026-11-03 23:55:27.503] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-11-03 23:55:27.503] [info] Accepted new action goal ×2 + 10.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.28sINFOros2_control_node[2026-11-03 23:55:30.684] [info] Received new action goal ×2 + 10.28sINFOros2_control_node[2026-11-03 23:55:30.684] [info] Accepted new action goal ×2 + 13.26sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.31sINFOros2_control_node[2026-11-03 23:55:33.717] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-11-03 23:55:33.717] [info] Accepted new action goal ×2 + 16.28sINFOobjective_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 + 16.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 23.81sINFOobjective_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 + 23.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.81sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.81sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.81sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.81sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812917 ms (missed cycles : 2). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812917 ms (missed cycles : 2).[0m ×2 + 24.71sINFOros2_control_node[2026-11-03 23:55:45.118] [info] Received new action goal ×2 + 24.71sINFOros2_control_node[2026-11-03 23:55:45.118] [info] Accepted new action goal ×2 + 25.89sINFOobjective_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 + 25.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803036 ms (missed cycles : 2). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803036 ms (missed cycles : 2).[0m ×2 + 26.18sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 26.24sINFOros2_control_node[2026-11-03 23:55:46.642] [info] Received new action goal ×2 + 26.24sINFOros2_control_node[2026-11-03 23:55:46.642] [info] Accepted new action goal ×2 + 28.51sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 28.52sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.53sINFOros2_control_node[2026-11-03 23:55:48.939] [info] Received new action goal ×2 + 28.53sINFOros2_control_node[2026-11-03 23:55:48.939] [info] Accepted new action goal ×2 + 31.53sINFOros2_control_node[2026-11-03 23:55:51.938] [info] Received new action goal ×2 + 31.53sINFOros2_control_node[2026-11-03 23:55:51.938] [info] Accepted new action goal ×2 + 34.13sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 34.13sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.18sINFOros2_control_node[2026-11-03 23:55:54.582] [info] Received new action goal ×2 + 34.18sINFOros2_control_node[2026-11-03 23:55:54.582] [info] Accepted new action goal ×2 + 36.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944354 ms (missed cycles : 2). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944354 ms (missed cycles : 2).[0m ×2 + 44.84sINFOros2_control_node[2026-11-03 23:56:05.249] [info] Received new action goal ×2 + 44.84sINFOros2_control_node[2026-11-03 23:56:05.249] [info] Accepted new action goal ×2 + 46.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793750166.40625882 seconds ×3 + 46.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.57sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793750167.18872976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.81sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 47.83sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.84sINFOros2_control_node[2026-11-03 23:56:08.244] [info] Received new action goal ×2 + 47.84sINFOros2_control_node[2026-11-03 23:56:08.244] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 36.3s | 44 warnings · 311 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:58:01.449] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:58:01.449] [info] Accepted new action goal ×2 + 0.50sINFOros2_control_node[2026-11-03 23:58:01.950] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-11-03 23:58:01.950] [info] Accepted new action goal ×2 + 2.57sINFOros2_control_node[2026-11-03 23:58:04.021] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-11-03 23:58:04.021] [info] Accepted new action goal ×2 + 3.37sINFOobjective_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 + 3.37sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793750284.82141542 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.91sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.91sINFOobjective_server_nodecaller: ×8 + 3.91sINFOobjective_server_nodetype: 0 ×8 + 3.91sINFOobjective_server_nodename: "" ×8 + 3.92sINFOobjective_server_nodeinstance_id: "" ×8 + 3.92sINFOobjective_server_node ×8 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707554 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707554 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793750285.48531437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-11-03 23:58:06.520] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-11-03 23:58:06.520] [info] Accepted new action goal ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111637 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111637 ms (missed cycles : 3).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524182 ms (missed cycles : 7). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524182 ms (missed cycles : 7).[0m ×2 + 9.32sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.33sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.38sINFOros2_control_node[2026-11-03 23:58:10.828] [info] Received new action goal ×2 + 9.38sINFOros2_control_node[2026-11-03 23:58:10.828] [info] Accepted new action goal ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711258 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711258 ms (missed cycles : 2).[0m ×2 + 19.20sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 19.20sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 19.21sINFOros2_control_node[2026-11-03 23:58:20.661] [info] Received new action goal ×2 + 19.21sINFOros2_control_node[2026-11-03 23:58:20.661] [info] Accepted new action goal ×2 + 21.05sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719789 ms (missed cycles : 2). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719789 ms (missed cycles : 2).[0m ×2 + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356016 ms (missed cycles : 4). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356016 ms (missed cycles : 4).[0m ×2 + 23.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.570926 ms (missed cycles : 6). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.570926 ms (missed cycles : 6).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.633728 ms (missed cycles : 6). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.633728 ms (missed cycles : 6).[0m ×2 + 26.34sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 26.36sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 26.40sINFOros2_control_node[2026-11-03 23:58:27.850] [info] Received new action goal ×2 + 26.40sINFOros2_control_node[2026-11-03 23:58:27.850] [info] Accepted new action goal ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766006 ms (missed cycles : 2). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766006 ms (missed cycles : 2).[0m ×2 + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668107 ms (missed cycles : 2). + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668107 ms (missed cycles : 2).[0m ×2 + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734354 ms (missed cycles : 2). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734354 ms (missed cycles : 2).[0m ×2 + 35.90sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 35.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060599 ms (missed cycles : 2). + 35.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060599 ms (missed cycles : 2).[0m ×2 + 35.93sINFOros2_control_node[2026-11-03 23:58:37.375] [info] Received new action goal ×2 + 35.93sINFOros2_control_node[2026-11-03 23:58:37.375] [info] Accepted new action goal ×2 + 39.71sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 40.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 40.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 40.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 40.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 40.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 40.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 seconds ×3 + 41.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 41.20sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 41.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793750322.72008085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 41.29sINFOobjective_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 + 41.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793750322.74183011 seconds ×3 + 41.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 41.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 41.98sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 42.09sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 42.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 42.11sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 42.11sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 32.5s | 81 warnings · 17806 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793750178.00079775 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.55sINFOobjective_server_nodecaller: ×4 + 0.55sINFOobjective_server_nodetype: 0 ×4 + 0.55sINFOobjective_server_nodename: "" ×4 + 0.55sINFOobjective_server_nodeinstance_id: "" ×4 + 0.55sINFOobjective_server_node ×4 + 0.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793750178.64861321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.78sINFOros2_control_node[2026-11-03 23:56:18.783] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-11-03 23:56:18.783] [info] Accepted new action goal ×2 + 2.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942069 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942069 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerReceived new action goal ×2926 + 2.89sINFOjoint_trajectory_controllerAccepted new action goal ×2926 + 2.89sINFOros2_control_nodeReceived new action goal[0m ×5852 + 2.89sINFOros2_control_nodeAccepted new action goal[0m ×5852 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833372 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833372 ms (missed cycles : 2).[0m ×2 + 4.50sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855079 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855079 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813483 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813483 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703069 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703069 ms (missed cycles : 2).[0m ×2 + 8.12sINFOjoint_trajectory_controllerGot request to cancel goal ×10 + 8.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×5 + 8.12sINFOros2_control_nodeGot request to cancel goal[0m ×20 + 8.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×10 + 8.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224982 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224982 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604020 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604020 ms (missed cycles : 3).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837546 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837546 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058635 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058635 ms (missed cycles : 2).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853186 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853186 ms (missed cycles : 2).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709823 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709823 ms (missed cycles : 2).[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681655 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681655 ms (missed cycles : 2).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745510 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745510 ms (missed cycles : 2).[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887550 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887550 ms (missed cycles : 3).[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454711 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454711 ms (missed cycles : 2).[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789362 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789362 ms (missed cycles : 2).[0m ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129613 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129613 ms (missed cycles : 2).[0m ×2 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758380 ms (missed cycles : 2). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758380 ms (missed cycles : 2).[0m ×2 + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839028 ms (missed cycles : 2). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839028 ms (missed cycles : 2).[0m ×2 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679481 ms (missed cycles : 2). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679481 ms (missed cycles : 2).[0m ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905010 ms (missed cycles : 2). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905010 ms (missed cycles : 2).[0m ×2 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414640 ms (missed cycles : 2). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414640 ms (missed cycles : 2).[0m ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768278 ms (missed cycles : 2). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768278 ms (missed cycles : 2).[0m ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852357 ms (missed cycles : 2). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852357 ms (missed cycles : 2).[0m ×2 + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775375 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775375 ms (missed cycles : 2).[0m ×2 + 32.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793750210.49521756 seconds ×3 + 32.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 32.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 32.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 32.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 32.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 32.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 33.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 33.04sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 33.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793750211.14105415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 33.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 33.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 33.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 33.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 33.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 33.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 33.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.30sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 33.30sINFOros2_control_node[2026-11-03 23:56:51.305] [info] Received new action goal ×2 + 33.30sINFOros2_control_node[2026-11-03 23:56:51.305] [info] Accepted new action goal ×2 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644048 ms (missed cycles : 2). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644048 ms (missed cycles : 2).[0m ×2 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830393 ms (missed cycles : 2). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830393 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 29.4s | 3 errors · 6 warnings · 150 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.53sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.53sINFOobjective_server_nodecaller: ×4 + 0.53sINFOobjective_server_nodetype: 0 ×4 + 0.53sINFOobjective_server_nodename: "" ×4 + 0.53sINFOobjective_server_nodeinstance_id: "" ×4 + 0.53sINFOobjective_server_node ×4 + 10.00sERRORobjective_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: 1793750087.80520439 seconds ×3 + 10.12sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793750087.93353462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 10.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 11.15sINFOros2_control_node[2026-11-03 23:54:48.957] [info] Received new action goal ×2 + 11.15sINFOros2_control_node[2026-11-03 23:54:48.957] [info] Accepted new action goal ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479331 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479331 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244488 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244488 ms (missed cycles : 2).[0m ×2 + 15.92sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 15.93sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 15.98sINFOros2_control_node[2026-11-03 23:54:53.784] [info] Received new action goal ×2 + 15.98sINFOros2_control_node[2026-11-03 23:54:53.784] [info] Accepted new action goal ×2 + 25.37sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 25.48sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 25.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 25.51sINFOros2_control_node[2026-11-03 23:55:03.319] [info] Received new action goal ×2 + 25.51sINFOros2_control_node[2026-11-03 23:55:03.319] [info] Accepted new action goal ×2 + 29.42sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793750107.23235869 seconds ×3 + 29.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 29.96sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 30.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793750107.93430614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.24sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 30.24sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 30.25sINFOros2_control_node[2026-11-03 23:55:08.058] [info] Received new action goal ×2 + 30.25sINFOros2_control_node[2026-11-03 23:55:08.058] [info] Accepted new action goal ×2 + 32.75sINFOros2_control_node[2026-11-03 23:55:10.555] [info] Received new action goal ×2 + 32.75sINFOros2_control_node[2026-11-03 23:55:10.556] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 20.2s | 57 warnings · 13048 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2142 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2142 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4284 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4284 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852357 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852357 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775375 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775375 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793750210.49521756 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_nodecaller: ×4 + 3.88sINFOobjective_server_nodetype: 0 ×4 + 3.88sINFOobjective_server_nodename: "" ×4 + 3.88sINFOobjective_server_nodeinstance_id: "" ×4 + 3.88sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793750211.14105415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.14sINFOros2_control_node[2026-11-03 23:56:51.305] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-11-03 23:56:51.305] [info] Accepted new action goal ×2 + 5.39sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.45sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644048 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644048 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830393 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830393 ms (missed cycles : 2).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740898 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740898 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769144 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769144 ms (missed cycles : 2).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683850 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683850 ms (missed cycles : 2).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690732 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690732 ms (missed cycles : 2).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693960 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693960 ms (missed cycles : 2).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727389 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727389 ms (missed cycles : 2).[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856632 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856632 ms (missed cycles : 2).[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017660 ms (missed cycles : 2). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017660 ms (missed cycles : 2).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902107 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902107 ms (missed cycles : 2).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322970 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322970 ms (missed cycles : 2).[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500027 ms (missed cycles : 2). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500027 ms (missed cycles : 2).[0m ×2 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2).[0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2).[0m ×2 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2).[0m ×2 + 23.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793750230.65237737 seconds ×3 + 24.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 24.13sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 24.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793750231.41437936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 24.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 24.45sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 24.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 24.46sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Received new action goal ×2 + 24.46sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Accepted new action goal ×2 + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 15.9s | 6 errors · 15 warnings · 194 info |
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.00sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793750058.71328330 seconds ×3 + 0.04sINFOobjective_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 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.82sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793750062.59101248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-11-03 23:54:22.785] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-11-03 23:54:22.785] [info] Accepted new action goal ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020912 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020912 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641723 ms (missed cycles : 6). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641723 ms (missed cycles : 6).[0m ×2 + 8.35sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.35sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639619 ms (missed cycles : 3). + 8.36sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639619 ms (missed cycles : 3).[0m ×2 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 8.63sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 5 iterations (0.00532694 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 9.03sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 9.18sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 9.34sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.47sINFOros2_control_node[2026-11-03 23:54:28.149] [info] Received new action goal ×2 + 9.47sINFOros2_control_node[2026-11-03 23:54:28.149] [info] Accepted new action goal ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785611 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785611 ms (missed cycles : 2).[0m ×2 + 12.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 12.01sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 12.01sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 12.02sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 12.03sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 12.15sINFOobjective_server_nodeFound path in 1 iterations (0.00371201 s). ×2 + 12.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.38sINFOros2_control_node[2026-11-03 23:54:31.058] [info] Received new action goal ×2 + 12.38sINFOros2_control_node[2026-11-03 23:54:31.058] [info] Accepted new action goal ×2 + 12.81sINFOros2_control_node[2026-11-03 23:54:31.489] [info] Received new action goal ×2 + 12.81sINFOros2_control_node[2026-11-03 23:54:31.489] [info] Accepted new action goal ×2 + 14.13sINFOobjective_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 + 14.14sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.14sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.14sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.14sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 19.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.67sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 warnings · 205 info |
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793750107.23235869 seconds ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793750107.93430614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.82sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.83sINFOros2_control_node[2026-11-03 23:55:08.058] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-11-03 23:55:08.058] [info] Accepted new action goal ×2 + 3.32sINFOros2_control_node[2026-11-03 23:55:10.555] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-11-03 23:55:10.556] [info] Accepted new action goal ×2 + 11.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793750119.12683845 seconds ×3 + 12.43sINFOobjective_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 + 12.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793750119.72410202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 12.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 12.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656621 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656621 ms (missed cycles : 3).[0m ×2 + 12.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793750119.79427743 seconds ×3 + 13.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.17sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.24sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.34sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 13.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.35sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 15.26sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.36sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 77 errors · 19 warnings · 473 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [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: 1793750333.81975222 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793750334.42372012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793750335.23389077 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793750335.84559321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_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 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793750335.84860516 seconds ×3 + 2.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793750336.45400405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793750336.49500704 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793750337.17820001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766968 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766968 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793750338.24841619 seconds ×3 + 4.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151443 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151443 ms (missed cycles : 2).[0m ×2 + 10.66sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.68sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.68sERRORweb_video_auth_proxy-25process has died [pid 8483, 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 + 10.68sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.69sERRORweb_bridge_auth_proxy-24process has died [pid 8482, 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 + 10.69sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.69sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.70sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.70sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.71sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.71sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.72sINFOvideo_server-23process has finished cleanly [pid 8481] ×2 + 10.72sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.72sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.73sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.73sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.74sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.74sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.75sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.75sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.76sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.76sINFOcontroller_managerShutdown request received.... + 10.76sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.76sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.76sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.76sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.76sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.76sINFOvideo_server2026/11/03 23:59:04 INF shutting down gracefully ×2 + 10.76sINFOvideo_server2026/11/03 23:59:04 INF [WebRTC] closing ×2 + 10.76sINFOvideo_server2026/11/03 23:59:04 INF [RTSP] closing ×2 + 10.76sINFOvideo_server2026/11/03 23:59:04 INF waiting for running hooks ×2 + 10.76sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.76sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.76sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.76sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.76sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.76sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.76sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.76sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.76sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.76sERRORmove_groupStack trace (most recent call last) in thread 8884: ×2 + 10.76sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.76sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.76sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.77sINFOcontroller_managerShutting down the controller manager. + 10.77sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.77sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.77sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.77sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4ba7d4fcc3, in __clone ×2 + 10.77sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4ba7cc2b83, in ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.77sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4ba7f53db3, in ×2 + 10.77sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f4ba86bde94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.77sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.77sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.77sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.77sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.77sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.77sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.77sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4ba82e7620, in rclcpp::Rate::sleep() ×2 + 10.77sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4ba8229d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.77sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4ba81eb087, in ×2 + 10.77sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4ba7f22390, in __cxa_throw ×2 + 10.77sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4ba7f0ca54, in std::terminate() ×2 + 10.77sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4ba7f220d9, in ×2 + 10.77sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4ba7f0cff4, in ×2 + 10.77sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4ba7c4e8fe, in abort ×2 + 10.77sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4ba7c6b27d, in raise ×2 + 10.77sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4ba7cc4c0c, in pthread_kill ×2 + 10.77sERRORmove_groupAborted (Signal sent by tkill() 8390 0) ×2 + 10.78sERRORmove_group-9process has died [pid 8390, 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_vw08g6q9 --params-file /tmp/launch_params_263jq1fa --params-file /tmp/launch_params_j12sj40r --params-file /tmp/launch_params_jxjw4r8a --params-file /tmp/launch_params_wjzpo9tl --params-file /tmp/launch_params_31irk_r1']. ×2 + 10.97sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.97sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.97sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.73sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.73sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.73sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.73sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOjoint_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 + 11.73sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.73sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.73sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.73sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.73sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.73sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.73sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.73sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.73sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.73sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.73sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.73sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.73sINFOjoint_state_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.73sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.73sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.73sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.73sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.73sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.73sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.73sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.73sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.73sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.73sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.73sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.73sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.73sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.74sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8480] ×2 + 11.74sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.78sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8394] ×2 + 11.78sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8393] ×2 + 11.80sERRORtf_visualization_relay-20process has died [pid 8478, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_5z55hnkw']. ×2 + 11.80sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.80sERRORjoint_state_visualization_relay-21process has died [pid 8479, 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_oz_wgmfb']. ×2 + 11.80sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.82sINFOparameter_manager_node-10process has finished cleanly [pid 8391] ×2 + 11.83sINFOexecute_objective_bridge-17process has finished cleanly [pid 8398] ×2 + 11.83sINFOwaypoint_manager_node-11process has finished cleanly [pid 8392] ×2 + 11.83sINFOui_teleop_bridge-18process has finished cleanly [pid 8399] ×2 + 11.88sINFOcomponent_container_mt-16process has finished cleanly [pid 8397] ×2 + 11.91sINFOobjective_server_node[0;m[2026-11-03 23:59:05.711] [moveit_pro_license] [info] ×2 + 11.91sINFOobjective_server_node************************************************* ×4 + 11.91sINFOobjective_server_node* MoveIt Pro License ×2 + 11.91sINFOobjective_server_node* Application has successfully terminated ×2 + 12.17sINFOobjective_server_node_main-14process has finished cleanly [pid 8395] ×2 + 12.17sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.92sINFOcomponent_container_mt-15process has finished cleanly [pid 8396] ×2 + 12.95sINFOweb_bridge-19process has finished cleanly [pid 8400] ×2 + 12.95sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.44sINFOros2_control_node-1process has finished cleanly [pid 8353] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 12 warnings · 730 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 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-11-03 23:56:05.249] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-11-03 23:56:05.249] [info] Accepted new action goal ×2 + 2.07sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793750166.40625882 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.85sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793750167.18872976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.91sINFOros2_control_node[2026-11-03 23:56:08.244] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-11-03 23:56:08.244] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974704 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974704 ms (missed cycles : 3).[0m ×2 + 7.60sINFOobjective_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 + 7.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.60sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.60sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815294 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815294 ms (missed cycles : 2).[0m ×2 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 10.04sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.06sINFOros2_control_node[2026-11-03 23:56:14.396] [info] Received new action goal ×2 + 10.06sINFOros2_control_node[2026-11-03 23:56:14.396] [info] Accepted new action goal ×2 + 13.66sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793750178.00079775 seconds ×3 + 14.21sINFOobjective_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: ""
+ 14.21sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793750178.64861321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 14.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.45sINFOros2_control_node[2026-11-03 23:56:18.783] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-11-03 23:56:18.783] [info] Accepted new action goal ×2 + 15.71sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.72sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942069 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942069 ms (missed cycles : 2).[0m ×2 + 16.55sINFOjoint_trajectory_controllerReceived new action goal ×85 + 16.55sINFOjoint_trajectory_controllerAccepted new action goal ×85 + 16.55sINFOros2_control_nodeReceived new action goal[0m ×170 + 16.55sINFOros2_control_nodeAccepted new action goal[0m ×170 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833372 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833372 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.4s | 3 errors · 28 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4).[0m ×2 + 0.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_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 + 1.64sERRORobjective_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: 1793750026.81773210 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.19sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.19sINFOobjective_server_nodecaller: ×8 + 2.19sINFOobjective_server_nodetype: 0 ×8 + 2.19sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793750027.42585063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793750027.55601621 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793750028.26484585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187020 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187020 ms (missed cycles : 2).[0m ×2 + 6.88sWARNros2_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 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979355 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979355 ms (missed cycles : 2).[0m ×2 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 1 iterations (0.00442518 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.59sINFOros2_control_node[2026-11-03 23:53:53.766] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-11-03 23:53:53.766] [info] Accepted new action goal ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981029 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981029 ms (missed cycles : 2).[0m ×2 + 10.89sINFOros2_control_node[2026-11-03 23:53:56.069] [info] Received new action goal ×2 + 10.89sINFOros2_control_node[2026-11-03 23:53:56.069] [info] Accepted new action goal ×2 + 12.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.54sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Received new action goal ×2 + 12.54sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Accepted new action goal ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2).[0m ×2 + 13.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793750039.01646328 seconds ×3 + 14.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.37sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793750039.64021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793750039.72041106 seconds ×3 + 15.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793750040.38427567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.31sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 15.32sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.34sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Received new action goal ×2 + 15.34sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 3 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.74sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.25sINFOros2_control_node[2026-11-03 23:53:27.996] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-11-03 23:53:27.996] [info] Accepted new action goal ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 9.89sINFOros2_control_node[2026-11-03 23:53:31.637] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-11-03 23:53:31.637] [info] Accepted new action goal ×2 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.22sINFOros2_control_node[2026-11-03 23:53:34.966] [info] Received new action goal ×2 + 13.22sINFOros2_control_node[2026-11-03 23:53:34.966] [info] Accepted new action goal ×2 + 14.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.07sINFOros2_control_node[2026-11-03 23:53:35.812] [info] Got request to cancel active goal. ×2 + 14.07sINFOros2_control_node[2026-11-03 23:53:35.812] [info] Canceling active goal... ×2 + 14.08sERRORobjective_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: 1793750015.82911181 seconds ×3 + 14.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.62sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793750016.46681595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 14.98sINFOros2_control_node[2026-11-03 23:53:36.721] [info] Received new action goal ×2 + 14.98sINFOros2_control_node[2026-11-03 23:53:36.721] [info] Accepted new action goal ×2 + 17.24sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 17.24sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.25sINFOros2_control_node[2026-11-03 23:53:38.991] [info] Received new action goal ×2 + 17.25sINFOros2_control_node[2026-11-03 23:53:38.991] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 3 errors · 17 warnings · 410 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.64sINFOobjective_server_nodecaller: ×14 + 0.64sINFOobjective_server_nodetype: 0 ×14 + 0.64sINFOobjective_server_nodename: "" ×14 + 0.64sINFOobjective_server_nodeinstance_id: "" ×14 + 0.64sINFOobjective_server_node ×14 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 + 5.72sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.72sINFOros2_control_node[2026-11-03 23:58:46.878] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-11-03 23:58:46.878] [info] Accepted new action goal ×2 + 5.72sINFOros2_control_node[2026-11-03 23:58:46.879] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 12.65sINFOobjective_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 + 12.66sINFOros2_control_node[2026-11-03 23:58:53.814] [info] Got request to cancel active goal. ×2 + 12.66sINFOros2_control_node[2026-11-03 23:58:53.814] [info] Canceling active goal... ×2 + 12.66sERRORobjective_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: 1793750333.81975222 seconds ×3 + 13.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.21sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793750334.42372012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3).[0m ×2 + 14.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793750335.23389077 seconds ×3 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4).[0m ×2 + 14.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.62sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793750335.84559321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.69sINFOobjective_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 + 14.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793750335.84860516 seconds ×3 + 14.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 15.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793750336.45400405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.34sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793750336.49500704 seconds ×3 + 15.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.96sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793750337.17820001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 6 warnings · 221 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793750039.01646328 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.19sINFOobjective_server_nodecaller: ×6 + 2.19sINFOobjective_server_nodetype: 0 ×6 + 2.19sINFOobjective_server_nodename: "" ×6 + 2.19sINFOobjective_server_nodeinstance_id: "" ×6 + 2.19sINFOobjective_server_node ×6 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793750039.64021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793750039.72041106 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793750040.38427567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Accepted new action goal ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.52sINFOros2_control_node[2026-11-03 23:54:03.888] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-11-03 23:54:03.888] [info] Accepted new action goal ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 8.87sINFOros2_control_node[2026-11-03 23:54:06.236] [info] Received new action goal ×2 + 8.87sINFOros2_control_node[2026-11-03 23:54:06.236] [info] Accepted new action goal ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 11.22sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 13.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.46sERRORobjective_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: 1793750050.83446217 seconds ×3 + 14.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.04sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 14.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.32sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 14.32sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 23 warnings · 2258 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793750230.65237737 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.34sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.97sINFOobjective_server_nodecaller: ×4 + 3.97sINFOobjective_server_nodetype: 0 ×4 + 3.97sINFOobjective_server_nodename: "" ×4 + 3.97sINFOobjective_server_nodeinstance_id: "" ×4 + 3.97sINFOobjective_server_node ×4 + 4.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793750231.41437936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358138 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358138 ms (missed cycles : 4).[0m ×2 + 7.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 7.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.83sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 1 iterations (0.00384276 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.48sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.51sINFOros2_control_node[2026-11-03 23:57:15.825] [info] Received new action goal ×2 + 8.51sINFOros2_control_node[2026-11-03 23:57:15.825] [info] Accepted new action goal ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.249359 ms (missed cycles : 6). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.249359 ms (missed cycles : 6).[0m ×2 + 10.80sINFOros2_control_node[2026-11-03 23:57:18.117] [info] Received new action goal ×2 + 10.80sINFOros2_control_node[2026-11-03 23:57:18.117] [info] Accepted new action goal ×2 + 12.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.47sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 12.47sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 13.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 14.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 15.16sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 15.35sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 15.35sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 17.26sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 12 warnings · 192 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 (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780069 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780069 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 6.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.96sINFOobjective_server_nodeFound path in 5 iterations (0.00531336 s). ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 7.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.66sINFOros2_control_node[2026-11-03 23:54:16.148] [info] Received new action goal ×2 + 7.66sINFOros2_control_node[2026-11-03 23:54:16.148] [info] Accepted new action goal ×2 + 9.93sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.19sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.19sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.20sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793750058.71328330 seconds ×3 + 10.23sINFOobjective_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 + 13.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.98sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.01sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.11sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793750062.59101248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.30sINFOros2_control_node[2026-11-03 23:54:22.785] [info] Received new action goal ×2 + 14.30sINFOros2_control_node[2026-11-03 23:54:22.785] [info] Accepted new action goal ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020912 ms (missed cycles : 2). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020912 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 25 warnings · 204 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.11sINFOros2_control_node[2026-11-03 23:53:34.966] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-11-03 23:53:34.966] [info] Accepted new action goal ×2 + 0.95sINFOobjective_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 + 0.96sINFOros2_control_node[2026-11-03 23:53:35.812] [info] Got request to cancel active goal. ×2 + 0.96sINFOros2_control_node[2026-11-03 23:53:35.812] [info] Canceling active goal... ×2 + 0.98sERRORobjective_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: 1793750015.82911181 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.51sINFOobjective_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: ""
+ 1.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.51sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.51sINFOobjective_server_nodecaller: ×6 + 1.51sINFOobjective_server_nodetype: 0 ×6 + 1.51sINFOobjective_server_nodename: "" ×6 + 1.51sINFOobjective_server_nodeinstance_id: "" ×6 + 1.51sINFOobjective_server_node ×6 + 1.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793750016.46681595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 1.85sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.87sINFOros2_control_node[2026-11-03 23:53:36.721] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-11-03 23:53:36.721] [info] Accepted new action goal ×2 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.14sINFOros2_control_node[2026-11-03 23:53:38.991] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-11-03 23:53:38.991] [info] Accepted new action goal ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219461 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219461 ms (missed cycles : 3).[0m ×2 + 8.12sWARNros2_control_nodeCamera render tick took 1.37 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000661 ms (missed cycles : 5). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000661 ms (missed cycles : 5).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690747 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690747 ms (missed cycles : 2).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4).[0m ×2 + 11.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3).[0m ×2 + 11.96sERRORobjective_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: 1793750026.81773210 seconds ×3 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2).[0m ×2 + 12.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.52sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793750027.42585063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793750027.55601621 seconds ×3 + 13.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793750028.26484585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.60sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 13.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.62sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Received new action goal ×2 + 13.62sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Accepted new action goal ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 3 warnings · 137 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 13.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.39sERRORobjective_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: 1793750252.81059241 seconds ×3 + 13.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.96sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.03sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793750253.45667386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). ×2 + 14.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.34sINFOros2_control_node[2026-11-03 23:57:33.765] [info] Received new action goal ×2 + 14.34sINFOros2_control_node[2026-11-03 23:57:33.765] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793750263.36825395 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793750263.98630929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-11-03 23:57:44.111] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-11-03 23:57:44.111] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 10.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793750274.31664872 seconds ×3 + 11.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.49sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.56sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793750274.92866731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.70sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 11.71sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.73sINFOros2_control_node[2026-11-03 23:57:55.095] [info] Received new action goal ×2 + 11.73sINFOros2_control_node[2026-11-03 23:57:55.095] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 129 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793750252.81059241 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.58sINFOobjective_server_nodecaller: ×4 + 0.58sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_node ×4 + 0.65sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793750253.45667386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.96sINFOros2_control_node[2026-11-03 23:57:33.765] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-11-03 23:57:33.765] [info] Accepted new action goal ×2 + 4.98sINFOros2_control_node[2026-11-03 23:57:37.783] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-11-03 23:57:37.783] [info] Accepted new action goal ×2 + 10.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793750263.36825395 seconds ×3 + 11.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.10sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.18sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793750263.98630929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.31sINFOros2_control_node[2026-11-03 23:57:44.111] [info] Received new action goal ×2 + 11.31sINFOros2_control_node[2026-11-03 23:57:44.111] [info] Accepted new action goal ×2 + 13.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Record Square Trajectory | record_square_trajectory.xml | 10.5s | 3 errors · 6 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793750274.31664872 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.55sINFOobjective_server_nodecaller: ×4 + 0.55sINFOobjective_server_nodetype: 0 ×4 + 0.55sINFOobjective_server_nodename: "" ×4 + 0.55sINFOobjective_server_nodeinstance_id: "" ×4 + 0.55sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793750274.92866731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.79sINFOros2_control_node[2026-11-03 23:57:55.095] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-11-03 23:57:55.095] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489357 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489357 ms (missed cycles : 2).[0m ×2 + 5.12sINFOros2_control_node[2026-11-03 23:57:59.427] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-11-03 23:57:59.427] [info] Accepted new action goal ×2 + 7.14sINFOros2_control_node[2026-11-03 23:58:01.449] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-11-03 23:58:01.449] [info] Accepted new action goal ×2 + 7.64sINFOros2_control_node[2026-11-03 23:58:01.950] [info] Received new action goal ×2 + 7.64sINFOros2_control_node[2026-11-03 23:58:01.950] [info] Accepted new action goal ×2 + 9.72sINFOros2_control_node[2026-11-03 23:58:04.021] [info] Received new action goal ×2 + 9.72sINFOros2_control_node[2026-11-03 23:58:04.021] [info] Accepted new action goal ×2 + 10.51sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 10.51sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793750284.82141542 seconds ×3 + 11.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.06sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707554 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707554 ms (missed cycles : 2).[0m ×2 + 11.18sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793750285.48531437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.20sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 12.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.21sINFOros2_control_node[2026-11-03 23:58:06.520] [info] Received new action goal ×2 + 12.21sINFOros2_control_node[2026-11-03 23:58:06.520] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 3 warnings · 207 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793750119.12683845 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793750119.72410202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656621 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656621 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793750119.79427743 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.34sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.46sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 3.37sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793750124.22890949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.18sINFOobjective_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 + 5.19sINFOobjective_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 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.51sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Received new action goal ×2 + 5.51sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×17 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.78sINFOobjective_server_nodecaller: ×14 + 2.78sINFOobjective_server_nodetype: 0 ×14 + 2.78sINFOobjective_server_nodename: "" ×14 + 2.78sINFOobjective_server_nodeinstance_id: "" ×14 + 2.78sINFOobjective_server_node ×14 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 5.10sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 6.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 7.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 7.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 7.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.83sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.10sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 15 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [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: 1793750333.81975222 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793750334.42372012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793750335.23389077 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793750335.84559321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_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 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793750335.84860516 seconds ×3 + 2.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793750336.45400405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793750336.49500704 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793750337.17820001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766968 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766968 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793750338.24841619 seconds ×3 + 4.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151443 ms (missed cycles : 2). | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690747 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690747 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4).[0m ×2 + 2.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_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 + 2.71sERRORobjective_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: 1793750026.81773210 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793750027.42585063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793750027.55601621 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793750028.26484585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.36sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 3 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:53:56.069] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:53:56.069] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Accepted new action goal ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793750039.01646328 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793750039.64021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793750039.72041106 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793750040.38427567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.45sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 3 warnings · 140 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793750119.12683845 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793750119.72410202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656621 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656621 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793750119.79427743 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.34sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.46sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 3.37sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [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 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [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: 1793750333.81975222 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793750334.42372012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793750335.23389077 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793750335.84559321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_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 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793750335.84860516 seconds ×3 + 2.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793750336.45400405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793750336.49500704 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793750337.17820001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766968 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766968 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793750338.24841619 seconds ×3 + 4.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151443 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151443 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 15 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [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: 1793750333.81975222 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793750334.42372012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793750335.23389077 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793750335.84559321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_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 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793750335.84860516 seconds ×3 + 2.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793750336.45400405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793750336.49500704 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793750337.17820001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766968 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766968 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793750338.24841619 seconds ×3 + 4.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151443 ms (missed cycles : 2). | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 6 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4).[0m ×2 + 0.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_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 + 1.64sERRORobjective_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: 1793750026.81773210 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793750027.42585063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793750027.55601621 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793750028.26484585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690747 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690747 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4).[0m ×2 + 2.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_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 + 2.71sERRORobjective_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: 1793750026.81773210 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793750027.42585063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793750027.55601621 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793750028.26484585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.36sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690747 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690747 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4).[0m ×2 + 2.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_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 + 2.71sERRORobjective_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: 1793750026.81773210 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793750027.42585063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793750027.55601621 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793750028.26484585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.36sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4).[0m ×2 + 0.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_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 + 1.64sERRORobjective_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: 1793750026.81773210 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793750027.42585063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793750027.55601621 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793750028.26484585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4).[0m ×2 + 0.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_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 + 1.64sERRORobjective_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: 1793750026.81773210 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793750027.42585063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793750027.55601621 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793750028.26484585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161434 ms (missed cycles : 4).[0m ×2 + 0.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602393 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_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 + 1.64sERRORobjective_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: 1793750026.81773210 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022118 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793750027.42585063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793750027.55601621 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793750028.26484585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-11-03 23:53:48.469] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711436 ms (missed cycles : 3).[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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793750039.01646328 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793750039.64021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793750039.72041106 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793750040.38427567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Accepted new action goal ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793750039.01646328 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793750039.64021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793750039.72041106 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793750040.38427567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Accepted new action goal ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793750039.01646328 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793750039.64021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793750039.72041106 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793750040.38427567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Accepted new action goal ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793750039.01646328 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793750039.64021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793750039.72041106 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793750040.38427567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Accepted new action goal ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-03 23:53:57.721] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675589 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793750039.01646328 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793750039.64021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793750039.72041106 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793750040.38427567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-03 23:54:00.519] [info] Accepted new action goal ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 3 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-03 23:54:08.586] [info] Accepted new action goal ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1793750050.83446217 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793750051.49037099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-11-03 23:54:11.685] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 44 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.53sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.53sINFOobjective_server_nodecaller: ×2 + 0.53sINFOobjective_server_nodetype: 0 ×2 + 0.53sINFOobjective_server_nodename: "" ×2 + 0.53sINFOobjective_server_nodeinstance_id: "" ×2 + 0.53sINFOobjective_server_node ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 3 warnings · 140 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793750119.12683845 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793750119.72410202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656621 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656621 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793750119.79427743 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.34sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.46sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 3.37sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 105 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793750124.22890949 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 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 105 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793750124.22890949 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 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 105 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793750124.22890949 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 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 105 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793750124.22890949 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 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 105 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793750124.22890949 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 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 105 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793750124.22890949 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 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 105 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793750120.46888924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:55:20.584] [info] Accepted new action goal ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793750122.58908200 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793750124.22890949 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 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-11-03 23:55:24.636] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 6 warnings · 594 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793750178.00079775 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.55sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.55sINFOobjective_server_nodecaller: ×2 + 0.55sINFOobjective_server_nodetype: 0 ×2 + 0.55sINFOobjective_server_nodename: "" ×2 + 0.55sINFOobjective_server_nodeinstance_id: "" ×2 + 0.55sINFOobjective_server_node ×2 + 0.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793750178.64861321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.78sINFOros2_control_node[2026-11-03 23:56:18.783] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-11-03 23:56:18.783] [info] Accepted new action goal ×2 + 2.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942069 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942069 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerReceived new action goal ×85 + 2.89sINFOjoint_trajectory_controllerAccepted new action goal ×85 + 2.89sINFOros2_control_nodeReceived new action goal[0m ×170 + 2.89sINFOros2_control_nodeAccepted new action goal[0m ×170 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833372 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833372 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 · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793750230.65237737 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.34sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793750231.41437936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 12 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793750230.65237737 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.34sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793750231.41437936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 12 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793750230.65237737 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.34sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793750231.41437936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 12 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793750230.65237737 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.34sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793750231.41437936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 12 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643040 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124002 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706929 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793750230.65237737 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.34sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793750231.41437936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-11-03 23:57:11.618] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121623 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 warnings · 76 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-03 23:57:19.783] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793750241.07925677 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793750242.48003030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866413 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-11-03 23:57:22.664] [info] Accepted new action goal ×2 + 5.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 61 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793750252.81059241 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.58sINFOobjective_server_nodecaller: ×2 + 0.58sINFOobjective_server_nodetype: 0 ×2 + 0.58sINFOobjective_server_nodename: "" ×2 + 0.58sINFOobjective_server_nodeinstance_id: "" ×2 + 0.58sINFOobjective_server_node ×2 + 0.65sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793750253.45667386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.96sINFOros2_control_node[2026-11-03 23:57:33.765] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-11-03 23:57:33.765] [info] Accepted new action goal ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793750263.36825395 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793750263.98630929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-11-03 23:57:44.111] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-11-03 23:57:44.111] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 6 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 6 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793750321.15936828 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793750322.03134775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967666 ms (missed cycles : 3).[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793750322.10150146 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: 1793750322.72008085 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: 1793750322.74183011 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793750323.43435669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 2.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448127 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-11-03 23:58:43.560] [info] Accepted new action goal ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 11 warnings · 210 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [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: 1793750333.81975222 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793750334.42372012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793750335.23389077 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793750335.84559321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_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 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793750335.84860516 seconds ×3 + 2.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793750336.45400405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793750336.49500704 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793750337.17820001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 11 warnings · 210 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-03 23:58:53.814] [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: 1793750333.81975222 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793750334.42372012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008365 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793750335.23389077 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305834 ms (missed cycles : 4).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793750335.84559321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_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 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793750335.84860516 seconds ×3 + 2.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793750336.45400405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793750336.49500704 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793750337.17820001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 12.4s | 32 warnings · 767 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-11-03-23-53-07-797464-bef30ab3711b-8305 ×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. + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862972 ms (missed cycles : 3). + 0.92sINFOros2_control_node-1process started with pid [8353] ×2 + 0.92sINFOmove_group-9process started with pid [8390] ×2 + 0.92sINFOparameter_manager_node-10process started with pid [8391] ×2 + 0.92sINFOwaypoint_manager_node-11process started with pid [8392] ×2 + 0.92sINFOmove_joint_resampler_node-12process started with pid [8393] ×2 + 0.92sINFOmove_end_effector_resampler_node-13process started with pid [8394] ×2 + 0.92sINFOobjective_server_node_main-14process started with pid [8395] ×2 + 0.92sINFOcomponent_container_mt-15process started with pid [8396] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8397] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8398] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8399] ×2 + 0.92sINFOweb_bridge-19process started with pid [8400] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8478] ×2 + 0.92sINFOjoint_state_visualization_relay-21process started with pid [8479] ×2 + 0.92sINFOtf2_web_republisher_node-22process started with pid [8480] ×2 + 0.92sINFOvideo_server-23process started with pid [8481] ×2 + 0.92sINFOweb_bridge_auth_proxy-24process started with pid [8482] ×2 + 0.92sINFOweb_video_auth_proxy-25process started with pid [8483] ×2 + 0.93sINFOros2-2process started with pid [8354] ×2 + 0.93sINFOros2-3process started with pid [8355] ×2 + 0.93sINFOros2-4process started with pid [8356] ×2 + 0.93sINFOros2-5process started with pid [8357] ×2 + 0.93sINFOros2-6process started with pid [8358] ×2 + 0.93sINFOros2-7process started with pid [8359] ×2 + 0.93sINFOros2-8process started with pid [8360] ×2 + 0.95sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.95sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.95sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.95sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.95sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.95sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862972 ms (missed cycles : 3).[0m ×2 + 1.00sINFOcontroller_managerReceived robot description from topic. + 1.00sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.01sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.02sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/11/03 23:53:09 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.16sINFOvideo_server2026/11/03 23:53:09 INF configuration loaded from /tmp/moveit-webrtc-_myo3gbz/mediamtx.yml ×2 + 1.16sINFOvideo_server2026/11/03 23:53:09 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.16sINFOvideo_server2026/11/03 23:53:09 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOweb_video_auth_proxy2026-11-03 23:53:09,671 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.52sINFOweb_video_auth_proxy2026-11-03 23:53:09,674 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.53sINFOweb_bridge_auth_proxy2026-11-03 23:53:09,678 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.75sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708397 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708397 ms (missed cycles : 2).[0m ×2 + 1.90sINFOmove_group[2026-11-03 23:53:10.052] [moveit_pro_license] [info] ×2 + 1.90sINFOmove_group************************************************* ×4 + 1.90sINFOmove_group* MoveIt Pro License ×2 + 1.90sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.25sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.25sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.25sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.25sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.27sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.27sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.28sINFOmove_group ×4 + 2.28sINFOmove_group[92mYou can start planning now![0m ×2 + 2.41sINFOwaypoint_manager_node[2026-11-03 23:53:10.556] [moveit_pro_license] [info] ×2 + 2.41sINFOwaypoint_manager_node************************************************* ×4 + 2.41sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.41sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.52sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113526 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113526 ms (missed cycles : 2).[0m ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.51sINFOobjective_server_node[2026-11-03 23:53:11.665] [moveit_pro_license] [info] ×2 + 3.51sINFOobjective_server_node************************************************* ×4 + 3.51sINFOobjective_server_node* MoveIt Pro License ×2 + 3.51sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.64sINFOobjective_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 + 3.64sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.66sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.94sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.94sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.31sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.32sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 4.32sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.32sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.32sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.32sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.32sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.32sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.32sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.32sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.32sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.32sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.32sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.32sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.32sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.32sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.32sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.32sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.32sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.32sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.32sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.32sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.32sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.32sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.32sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260253 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260253 ms (missed cycles : 2).[0m ×2 + 4.50sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.50sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.50sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.62sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale + 4.62sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale [0m ×2 + 4.64sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.64sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.64sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.64sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.64sINFOros2_control_node[2026-11-03 23:53:12.788] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.64sINFOros2_control_node[2026-11-03 23:53:12.788] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.68sINFOros2_control_node[2026-11-03 23:53:12.826] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.68sINFOros2_control_node[2026-11-03 23:53:12.826] [info] Controller state will be published at 50 Hz. ×2 + 4.69sINFOros2_control_node[2026-11-03 23:53:12.839] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.70sINFOcomponent_container_mt[2026-11-03 23:53:12.855] [moveit_pro_license] [info] ×2 + 4.70sINFOcomponent_container_mt************************************************* ×4 + 4.70sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.70sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.82sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.82sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.88sINFOros2_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 + 4.88sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.88sWARNros2_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 + 4.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.93sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.94sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.94sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.94sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale + 4.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale [0m ×2 + 4.97sINFOros2-6process has finished cleanly [pid 8358] ×2 + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.99sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.99sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.99sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.99sINFOforce_torque_sensor_broadcasterconfigure successful + 4.99sINFOros2_control_nodeconfigure successful[0m ×2 + 5.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.00sINFOcontroller_managerSuccessfully switched controllers! ×16 + 5.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 5.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.00sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale + 5.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale [0m ×2 + 5.32sINFOros2-2process has finished cleanly [pid 8354] ×2 + 5.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246390 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246390 ms (missed cycles : 4).[0m ×2 + 5.34sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.34sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.34sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.35sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.35sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.66sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.66sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.66sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.66sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.66sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale + 5.67sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale [0m ×2 + 5.68sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.68sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.70sINFOros2-4process has finished cleanly [pid 8356] ×2 + 5.72sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.72sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.72sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.72sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.72sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.72sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.73sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.73sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale + 6.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale [0m ×2 + 6.07sINFOros2-3process has finished cleanly [pid 8355] ×2 + 6.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927873 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927873 ms (missed cycles : 2).[0m ×2 + 6.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.42sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.43sINFOros2-5process has finished cleanly [pid 8357] ×2 + 6.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale + 6.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale [0m ×2 + 6.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.54sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.57sINFOros2_control_node[2026-11-03 23:53:14.722] [info] Controller state will be published at 10 Hz. ×2 + 6.57sINFOros2_control_node[2026-11-03 23:53:14.723] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.91sINFOros2-7process has finished cleanly [pid 8359] ×2 + 6.96sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale + 6.96sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lk2unrjh --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_3tiyj73x --params-file /tmp/launch_params_1133yale [0m ×2 + 7.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.03sINFOros2_control_node[2026-11-03 23:53:15.177] [info] Controller state will be published at 20 Hz. ×2 + 7.03sINFOros2_control_node[2026-11-03 23:53:15.178] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.36sINFOros2-8process has finished cleanly [pid 8360] ×2 + 9.24sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 11.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 11.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 11.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 11.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 11.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 11.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 11.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 12.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 12.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 12.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 12.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 12.02sINFOobjective_server_nodecaller: ×10 + 12.02sINFOobjective_server_nodetype: 0 ×10 + 12.02sINFOobjective_server_nodename: "" ×10 + 12.02sINFOobjective_server_nodeinstance_id: "" ×10 + 12.02sINFOobjective_server_node ×10 + 12.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 12.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 14.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 14.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 14.34sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 14.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 15.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 warnings · 386 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 2.32sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.32sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 5.32sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 12 warnings · 169 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-11-03-23-53-07-797464-bef30ab3711b-8305 ×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. + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862972 ms (missed cycles : 3). + 0.92sINFOros2_control_node-1process started with pid [8353] ×2 + 0.92sINFOmove_group-9process started with pid [8390] ×2 + 0.92sINFOparameter_manager_node-10process started with pid [8391] ×2 + 0.92sINFOwaypoint_manager_node-11process started with pid [8392] ×2 + 0.92sINFOmove_joint_resampler_node-12process started with pid [8393] ×2 + 0.92sINFOmove_end_effector_resampler_node-13process started with pid [8394] ×2 + 0.92sINFOobjective_server_node_main-14process started with pid [8395] ×2 + 0.92sINFOcomponent_container_mt-15process started with pid [8396] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8397] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8398] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8399] ×2 + 0.92sINFOweb_bridge-19process started with pid [8400] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8478] ×2 + 0.92sINFOjoint_state_visualization_relay-21process started with pid [8479] ×2 + 0.92sINFOtf2_web_republisher_node-22process started with pid [8480] ×2 + 0.92sINFOvideo_server-23process started with pid [8481] ×2 + 0.92sINFOweb_bridge_auth_proxy-24process started with pid [8482] ×2 + 0.92sINFOweb_video_auth_proxy-25process started with pid [8483] ×2 + 0.93sINFOros2-2process started with pid [8354] ×2 + 0.93sINFOros2-3process started with pid [8355] ×2 + 0.93sINFOros2-4process started with pid [8356] ×2 + 0.93sINFOros2-5process started with pid [8357] ×2 + 0.93sINFOros2-6process started with pid [8358] ×2 + 0.93sINFOros2-7process started with pid [8359] ×2 + 0.93sINFOros2-8process started with pid [8360] ×2 + 0.95sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.95sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.95sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.95sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.95sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.95sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862972 ms (missed cycles : 3).[0m ×2 + 1.00sINFOcontroller_managerReceived robot description from topic. + 1.00sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.01sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.02sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/11/03 23:53:09 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.16sINFOvideo_server2026/11/03 23:53:09 INF configuration loaded from /tmp/moveit-webrtc-_myo3gbz/mediamtx.yml ×2 + 1.16sINFOvideo_server2026/11/03 23:53:09 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.16sINFOvideo_server2026/11/03 23:53:09 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOweb_video_auth_proxy2026-11-03 23:53:09,671 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.52sINFOweb_video_auth_proxy2026-11-03 23:53:09,674 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.53sINFOweb_bridge_auth_proxy2026-11-03 23:53:09,678 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.75sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708397 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708397 ms (missed cycles : 2).[0m ×2 + 1.90sINFOmove_group[2026-11-03 23:53:10.052] [moveit_pro_license] [info] ×2 + 1.90sINFOmove_group************************************************* ×4 + 1.90sINFOmove_group* MoveIt Pro License ×2 + 1.90sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.25sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.25sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.25sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.25sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.27sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.27sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.28sINFOmove_group ×4 + 2.28sINFOmove_group[92mYou can start planning now![0m ×2 + 2.41sINFOwaypoint_manager_node[2026-11-03 23:53:10.556] [moveit_pro_license] [info] ×2 + 2.41sINFOwaypoint_manager_node************************************************* ×4 + 2.41sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.41sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.52sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113526 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113526 ms (missed cycles : 2).[0m ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.51sINFOobjective_server_node[2026-11-03 23:53:11.665] [moveit_pro_license] [info] ×2 + 3.51sINFOobjective_server_node************************************************* ×4 + 3.51sINFOobjective_server_node* MoveIt Pro License ×2 + 3.51sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793750000.22978902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793750000.24002004 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 2.32sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.32sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 5.32sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 3 warnings · 328 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 + 7.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.14sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.16sINFOros2_control_node[2026-11-03 23:53:27.996] [info] Received new action goal ×2 + 7.16sINFOros2_control_node[2026-11-03 23:53:27.996] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793750000.83441353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793750001.74459362 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 + 0.94sINFOros2_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 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793750002.36294699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793750002.42312312 seconds ×3 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793750003.08323407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793750003.10338569 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793750003.70290875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793750003.85351110 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793750004.54557538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928959 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793750004.59574175 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793750005.33188891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.1675e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.65sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-11-03 23:53:25.489] [info] Accepted new action goal ×2 | ||||