136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
9.7s
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 | 42.9s | 3 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: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_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 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_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 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793755267.85568261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Accepted new action goal ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 7.09sINFOros2_control_node[2026-11-04 01:21:11.141] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-11-04 01:21:11.141] [info] Accepted new action goal ×2 + 10.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.24sINFOros2_control_node[2026-11-04 01:21:14.290] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-11-04 01:21:14.290] [info] Accepted new action goal ×2 + 13.22sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.27sINFOros2_control_node[2026-11-04 01:21:17.315] [info] Received new action goal ×2 + 13.27sINFOros2_control_node[2026-11-04 01:21:17.315] [info] Accepted new action goal ×2 + 16.23sINFOobjective_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 + 16.23sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.96sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.78sINFOobjective_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 + 23.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.79sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.79sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.79sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.79sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.70sINFOros2_control_node[2026-11-04 01:21:28.744] [info] Received new action goal ×2 + 24.70sINFOros2_control_node[2026-11-04 01:21:28.744] [info] Accepted new action goal ×2 + 25.88sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.18sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 26.22sINFOros2_control_node[2026-11-04 01:21:30.267] [info] Received new action goal ×2 + 26.22sINFOros2_control_node[2026-11-04 01:21:30.267] [info] Accepted new action goal ×2 + 28.49sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 28.49sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.51sINFOros2_control_node[2026-11-04 01:21:32.555] [info] Received new action goal ×2 + 28.51sINFOros2_control_node[2026-11-04 01:21:32.555] [info] Accepted new action goal ×2 + 31.53sINFOros2_control_node[2026-11-04 01:21:35.575] [info] Received new action goal ×2 + 31.53sINFOros2_control_node[2026-11-04 01:21:35.575] [info] Accepted new action goal ×2 + 34.13sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 34.14sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.18sINFOros2_control_node[2026-11-04 01:21:38.230] [info] Received new action goal ×2 + 34.18sINFOros2_control_node[2026-11-04 01:21:38.230] [info] Accepted new action goal ×2 + 44.85sINFOros2_control_node[2026-11-04 01:21:48.896] [info] Received new action goal ×2 + 44.85sINFOros2_control_node[2026-11-04 01:21:48.896] [info] Accepted new action goal ×2 + 46.01sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793755310.05265379 seconds ×3 + 46.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.59sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.81sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793755310.85546732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.84sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 47.86sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.87sINFOros2_control_node[2026-11-04 01:21:51.921] [info] Received new action goal ×2 + 47.87sINFOros2_control_node[2026-11-04 01:21:51.921] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 33.8s | 18 warnings · 311 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:45.013] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:45.013] [info] Accepted new action goal ×2 + 0.49sINFOros2_control_node[2026-11-04 01:23:45.504] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-11-04 01:23:45.504] [info] Accepted new action goal ×2 + 2.56sINFOros2_control_node[2026-11-04 01:23:47.575] [info] Received new action goal ×2 + 2.56sINFOros2_control_node[2026-11-04 01:23:47.575] [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: 1793755428.38563609 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 + 3.91sINFOobjective_server_nodeinstance_id: "" ×8 + 3.91sINFOobjective_server_node ×8 + 4.07sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793755429.08217740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743975 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743975 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.09sINFOros2_control_node[2026-11-04 01:23:50.106] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-11-04 01:23:50.106] [info] Accepted new action goal ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767351 ms (missed cycles : 5). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767351 ms (missed cycles : 5).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559025 ms (missed cycles : 6). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559025 ms (missed cycles : 6).[0m ×2 + 9.26sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.27sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.33sINFOros2_control_node[2026-11-04 01:23:54.340] [info] Received new action goal ×2 + 9.33sINFOros2_control_node[2026-11-04 01:23:54.340] [info] Accepted new action goal ×2 + 19.14sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 19.15sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 19.16sINFOros2_control_node[2026-11-04 01:24:04.173] [info] Received new action goal ×2 + 19.16sINFOros2_control_node[2026-11-04 01:24:04.173] [info] Accepted new action goal ×2 + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693374 ms (missed cycles : 2). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693374 ms (missed cycles : 2).[0m ×2 + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416984 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416984 ms (missed cycles : 2).[0m ×2 + 24.33sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.34sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.40sINFOros2_control_node[2026-11-04 01:24:09.409] [info] Received new action goal ×2 + 24.40sINFOros2_control_node[2026-11-04 01:24:09.409] [info] Accepted new action goal ×2 + 33.30sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 33.31sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.33sINFOros2_control_node[2026-11-04 01:24:18.343] [info] Received new action goal ×2 + 33.33sINFOros2_control_node[2026-11-04 01:24:18.343] [info] Accepted new action goal ×2 + 36.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 37.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 37.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 37.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 38.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 38.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 38.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 38.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 38.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 38.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 39.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 39.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 39.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 39.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 39.52sINFOros2_control_node[2026-11-04 01:24:24.531] [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 | 78 warnings · 18484 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716334 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716334 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793755321.68769932 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.05sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.05sINFOobjective_server_nodecaller: ×4 + 1.05sINFOobjective_server_nodetype: 0 ×4 + 1.05sINFOobjective_server_nodename: "" ×4 + 1.05sINFOobjective_server_nodeinstance_id: "" ×4 + 1.05sINFOobjective_server_node ×4 + 1.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793755322.30485868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 1.33sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 1.34sINFOros2_control_node[2026-11-04 01:22:02.519] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-11-04 01:22:02.519] [info] Accepted new action goal ×2 + 2.61sINFOobjective_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 + 2.61sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.68sINFOobjective_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 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922179 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922179 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerReceived new action goal ×3039 + 3.39sINFOjoint_trajectory_controllerAccepted new action goal ×3039 + 3.39sINFOros2_control_nodeReceived new action goal[0m ×6078 + 3.39sINFOros2_control_nodeAccepted new action goal[0m ×6078 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798901 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798901 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682258 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682258 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318988 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318988 ms (missed cycles : 2).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963546 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963546 ms (missed cycles : 2).[0m ×2 + 8.69sINFOjoint_trajectory_controllerGot request to cancel goal ×10 + 8.69sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×5 + 8.69sINFOros2_control_nodeGot request to cancel goal[0m ×20 + 8.69sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×10 + 8.70sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847479 ms (missed cycles : 2). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847479 ms (missed cycles : 2).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788195 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788195 ms (missed cycles : 2).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750567 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750567 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696550 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696550 ms (missed cycles : 2).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760912 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760912 ms (missed cycles : 2).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817809 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817809 ms (missed cycles : 2).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563820 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563820 ms (missed cycles : 2).[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905427 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905427 ms (missed cycles : 2).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864515 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864515 ms (missed cycles : 2).[0m ×2 + 19.83sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769456 ms (missed cycles : 2). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769456 ms (missed cycles : 2).[0m ×2 + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048742 ms (missed cycles : 2). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048742 ms (missed cycles : 2).[0m ×2 + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669167 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669167 ms (missed cycles : 2).[0m ×2 + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000996 ms (missed cycles : 2). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000996 ms (missed cycles : 2).[0m ×2 + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692953 ms (missed cycles : 2). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692953 ms (missed cycles : 2).[0m ×2 + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128944 ms (missed cycles : 2). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128944 ms (missed cycles : 2).[0m ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680585 ms (missed cycles : 2). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680585 ms (missed cycles : 2).[0m ×2 + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716560 ms (missed cycles : 2). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716560 ms (missed cycles : 2).[0m ×2 + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111751 ms (missed cycles : 2). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111751 ms (missed cycles : 2).[0m ×2 + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550875 ms (missed cycles : 2). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550875 ms (missed cycles : 2).[0m ×2 + 33.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793755354.21321249 seconds ×3 + 33.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 33.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 33.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 33.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 33.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 33.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 33.58sINFOobjective_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: ""
+ 33.58sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 33.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793755354.85936165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 33.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 33.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 33.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 33.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 33.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 33.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 33.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.83sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 33.83sINFOros2_control_node[2026-11-04 01:22:35.013] [info] Received new action goal ×2 + 33.83sINFOros2_control_node[2026-11-04 01:22:35.013] [info] Accepted new action goal ×2 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771074 ms (missed cycles : 2). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771074 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 20.1s | 54 warnings · 13582 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2231 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2231 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4462 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4462 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716560 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716560 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111751 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111751 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550875 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550875 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793755354.21321249 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.86sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.86sINFOobjective_server_nodecaller: ×4 + 3.86sINFOobjective_server_nodetype: 0 ×4 + 3.86sINFOobjective_server_nodename: "" ×4 + 3.86sINFOobjective_server_nodeinstance_id: "" ×4 + 3.86sINFOobjective_server_node ×4 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793755354.85936165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.12sINFOros2_control_node[2026-11-04 01:22:35.013] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-11-04 01:22:35.013] [info] Accepted new action goal ×2 + 5.36sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.42sINFOobjective_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 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771074 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771074 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754988 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754988 ms (missed cycles : 2).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977596 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977596 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919932 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919932 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827223 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827223 ms (missed cycles : 2).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306025 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306025 ms (missed cycles : 2).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966361 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966361 ms (missed cycles : 2).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870462 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870462 ms (missed cycles : 2).[0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067684 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067684 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069373 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069373 ms (missed cycles : 2).[0m ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2).[0m ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2).[0m ×2 + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2).[0m ×2 + 23.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793755374.35221243 seconds ×3 + 24.10sINFOobjective_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: ""
+ 24.10sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 24.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793755375.09245825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 24.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 24.43sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 24.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 24.44sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Received new action goal ×2 + 24.44sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Accepted new action goal ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.8s | 3 errors · 6 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00424243 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.37sINFOros2_control_node[2026-11-04 01:20:28.529] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-04 01:20:28.529] [info] Accepted new action goal ×2 + 0.80sINFOros2_control_node[2026-11-04 01:20:28.961] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-11-04 01:20:28.961] [info] Accepted new action goal ×2 + 2.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.73sINFOobjective_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 + 2.74sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.74sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.74sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.74sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.76sERRORobjective_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: 1793755230.92601681 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793755231.73762989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-11-04 01:20:32.771] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-11-04 01:20:32.772] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984263 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984263 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238006 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238006 ms (missed cycles : 2).[0m ×2 + 9.10sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.11sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.16sINFOros2_control_node[2026-11-04 01:20:37.319] [info] Received new action goal ×2 + 9.16sINFOros2_control_node[2026-11-04 01:20:37.319] [info] Accepted new action goal ×2 + 18.56sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.67sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 18.68sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.69sINFOros2_control_node[2026-11-04 01:20:46.852] [info] Received new action goal ×2 + 18.69sINFOros2_control_node[2026-11-04 01:20:46.852] [info] Accepted new action goal ×2 + 22.60sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793755250.76706648 seconds ×3 + 23.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.14sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793755251.45307589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.42sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 23.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.43sINFOros2_control_node[2026-11-04 01:20:51.597] [info] Received new action goal ×2 + 23.43sINFOros2_control_node[2026-11-04 01:20:51.597] [info] Accepted new action goal ×2 + 25.91sINFOros2_control_node[2026-11-04 01:20:54.073] [info] Received new action goal ×2 + 25.91sINFOros2_control_node[2026-11-04 01:20:54.073] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 6 warnings · 203 info |
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793755250.76706648 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_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 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 + 0.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793755251.45307589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.83sINFOros2_control_node[2026-11-04 01:20:51.597] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-11-04 01:20:51.597] [info] Accepted new action goal ×2 + 3.31sINFOros2_control_node[2026-11-04 01:20:54.073] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-11-04 01:20:54.073] [info] Accepted new action goal ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735533 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735533 ms (missed cycles : 2).[0m ×2 + 11.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793755262.64490724 seconds ×3 + 12.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.42sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793755263.24121332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 12.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 12.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059132 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059132 ms (missed cycles : 3).[0m ×2 + 12.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793755263.31137013 seconds ×3 + 13.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.28sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.34sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.45sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 13.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.46sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 13.46sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 15.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 9 warnings · 760 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 + 0.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.89sINFOros2_control_node[2026-11-04 01:21:48.896] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-11-04 01:21:48.896] [info] Accepted new action goal ×2 + 2.05sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793755310.05265379 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOcontroller_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: 1793755310.85546732 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 (3.16e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.92sINFOros2_control_node[2026-11-04 01:21:51.921] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-11-04 01:21:51.921] [info] Accepted new action goal ×2 + 7.61sINFOobjective_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 + 7.61sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.61sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.61sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.61sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.05sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 10.07sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.08sINFOros2_control_node[2026-11-04 01:21:58.082] [info] Received new action goal ×2 + 10.08sINFOros2_control_node[2026-11-04 01:21:58.082] [info] Accepted new action goal ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716334 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716334 ms (missed cycles : 2).[0m ×2 + 13.68sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793755321.68769932 seconds ×3 + 14.23sINFOobjective_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: ""
+ 14.23sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793755322.30485868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 14.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.51sINFOros2_control_node[2026-11-04 01:22:02.519] [info] Received new action goal ×2 + 14.51sINFOros2_control_node[2026-11-04 01:22:02.519] [info] Accepted new action goal ×2 + 15.78sINFOobjective_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 + 15.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922179 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922179 ms (missed cycles : 2).[0m ×2 + 16.57sINFOjoint_trajectory_controllerReceived new action goal ×90 + 16.57sINFOjoint_trajectory_controllerAccepted new action goal ×90 + 16.57sINFOros2_control_nodeReceived new action goal[0m ×180 + 16.57sINFOros2_control_nodeAccepted new action goal[0m ×180 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798901 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798901 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 3 errors · 14 warnings · 390 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.76sINFOobjective_server_nodecaller: ×12 + 1.76sINFOobjective_server_nodetype: 0 ×12 + 1.76sINFOobjective_server_nodename: "" ×12 + 1.76sINFOobjective_server_nodeinstance_id: "" ×12 + 1.76sINFOobjective_server_node ×12 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 + 6.83sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.84sINFOros2_control_node[2026-11-04 01:24:27.851] [info] Received new action goal ×2 + 6.84sINFOros2_control_node[2026-11-04 01:24:27.851] [info] Accepted new action goal ×2 + 6.84sINFOros2_control_node[2026-11-04 01:24:27.852] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 13.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOros2_control_node[2026-11-04 01:24:34.897] [info] Got request to cancel active goal. ×2 + 13.89sINFOros2_control_node[2026-11-04 01:24:34.897] [info] Canceling active goal... ×2 + 13.89sERRORobjective_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: 1793755474.90300846 seconds ×3 + 14.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.43sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755475.50467038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2).[0m ×2 + 15.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755476.91483641 seconds ×3 + 16.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.45sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.52sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793755477.53097987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.52sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.52sINFOobjective_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 + 16.52sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.52sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793755477.53356647 seconds ×3 + 16.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 17.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.06sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793755478.13952923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793755478.16024566 seconds ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 3 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755160.97227550 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 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: 1793755161.65262294 seconds ×3 + 1.29sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 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 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.71sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.23sINFOros2_control_node[2026-11-04 01:19:27.202] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-11-04 01:19:27.202] [info] Accepted new action goal ×2 + 9.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×4 + 9.87sINFOros2_control_node[2026-11-04 01:19:30.841] [info] Received new action goal ×2 + 9.87sINFOros2_control_node[2026-11-04 01:19:30.841] [info] Accepted new action goal ×2 + 13.18sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 13.19sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.20sINFOros2_control_node[2026-11-04 01:19:34.172] [info] Received new action goal ×2 + 13.20sINFOros2_control_node[2026-11-04 01:19:34.172] [info] Accepted new action goal ×2 + 14.02sINFOobjective_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 + 14.03sINFOros2_control_node[2026-11-04 01:19:34.997] [info] Got request to cancel active goal. ×2 + 14.03sINFOros2_control_node[2026-11-04 01:19:34.997] [info] Canceling active goal... ×2 + 14.04sERRORobjective_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: 1793755175.01383185 seconds ×3 + 14.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.58sINFOobjective_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: ""
+ 14.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793755175.65648603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.94sINFOros2_control_node[2026-11-04 01:19:35.911] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-11-04 01:19:35.911] [info] Accepted new action goal ×2 + 17.20sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 17.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.22sINFOros2_control_node[2026-11-04 01:19:38.191] [info] Received new action goal ×2 + 17.22sINFOros2_control_node[2026-11-04 01:19:38.191] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 12 warnings · 214 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793755219.04487514 seconds ×3 + 0.30sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.71sINFOobjective_server_nodecaller: ×4 + 1.71sINFOobjective_server_nodetype: 0 ×4 + 1.71sINFOobjective_server_nodename: "" ×4 + 1.71sINFOobjective_server_nodeinstance_id: "" ×4 + 1.71sINFOobjective_server_node ×4 + 1.81sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793755220.55193329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 2.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.01sINFOros2_control_node[2026-11-04 01:20:20.756] [info] Received new action goal ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:20.756] [info] Accepted new action goal ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.533690 ms (missed cycles : 7). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.533690 ms (missed cycles : 7).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156213 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156213 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.71sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 5.98sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 5.99sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.06sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 5 iterations (0.00516326 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (1.98e-07 s). ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839944 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839944 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 6.89sINFOros2_control_node[2026-11-04 01:20:25.630] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-11-04 01:20:25.630] [info] Accepted new action goal ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 9.44sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 9.55sINFOobjective_server_nodeFound path in 1 iterations (0.00424243 s). ×2 + 9.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 9.79sINFOros2_control_node[2026-11-04 01:20:28.529] [info] Received new action goal ×2 + 9.79sINFOros2_control_node[2026-11-04 01:20:28.529] [info] Accepted new action goal ×2 + 10.22sINFOros2_control_node[2026-11-04 01:20:28.961] [info] Received new action goal ×2 + 10.22sINFOros2_control_node[2026-11-04 01:20:28.961] [info] Accepted new action goal ×2 + 12.15sINFOobjective_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 + 12.16sINFOrobotiq_gripper_controllerGot request to cancel goal + 12.16sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 12.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 12.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 12.18sERRORobjective_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: 1793755230.92601681 seconds ×3 + 12.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.87sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 12.99sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793755231.73762989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.02sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.03sINFOros2_control_node[2026-11-04 01:20:32.771] [info] Received new action goal ×2 + 14.03sINFOros2_control_node[2026-11-04 01:20:32.772] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 139 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 14.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sERRORobjective_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: 1793755396.40036392 seconds ×3 + 14.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.71sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793755397.03433275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.10sINFOros2_control_node[2026-11-04 01:23:17.352] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-11-04 01:23:17.352] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 23 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.59sINFOobjective_server_nodecaller: ×4 + 2.59sINFOobjective_server_nodetype: 0 ×4 + 2.59sINFOobjective_server_nodename: "" ×4 + 2.59sINFOobjective_server_nodeinstance_id: "" ×4 + 2.59sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911053 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911053 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169310 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169310 ms (missed cycles : 3).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.788041 ms (missed cycles : 8). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.788041 ms (missed cycles : 8).[0m ×2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.43sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.65sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 5 iterations (0.00540223 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 9.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 9.14sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.32sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120887 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120887 ms (missed cycles : 2).[0m ×2 + 9.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.59sINFOros2_control_node[2026-11-04 01:20:16.480] [info] Received new action goal ×2 + 9.59sINFOros2_control_node[2026-11-04 01:20:16.480] [info] Accepted new action goal ×2 + 11.85sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.12sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.12sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.13sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793755219.04487514 seconds ×3 + 12.15sINFOobjective_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 + 13.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.56sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.66sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793755220.55193329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.85sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 13.86sINFOros2_control_node[2026-11-04 01:20:20.756] [info] Received new action goal ×2 + 13.86sINFOros2_control_node[2026-11-04 01:20:20.756] [info] Accepted new action goal ×2 + 14.11sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.533690 ms (missed cycles : 7). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.533690 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 20 warnings · 2334 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793755374.35221243 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.96sINFOobjective_server_nodecaller: ×4 + 3.96sINFOobjective_server_nodetype: 0 ×4 + 3.96sINFOobjective_server_nodename: "" ×4 + 3.97sINFOobjective_server_nodeinstance_id: "" ×4 + 3.97sINFOobjective_server_node ×4 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793755375.09245825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061926 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061926 ms (missed cycles : 2).[0m ×2 + 8.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377869 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377869 ms (missed cycles : 4).[0m ×2 + 8.53sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 1 iterations (0.00378055 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.89sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.92sINFOros2_control_node[2026-11-04 01:22:59.948] [info] Received new action goal ×2 + 8.92sINFOros2_control_node[2026-11-04 01:22:59.948] [info] Accepted new action goal ×2 + 11.22sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 12.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.90sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 12.90sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 14.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 14.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.94sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.03sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 15.20sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 17.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ 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: 1793755406.95502925 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_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 + 0.54sINFOobjective_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: 1793755407.57462263 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 (4.77e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-11-04 01:23:27.698] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-11-04 01:23:27.698] [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 + 10.94sERRORobjective_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: 1793755417.89492464 seconds ×3 + 11.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.48sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.55sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793755418.50551915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.69sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 11.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.71sINFOros2_control_node[2026-11-04 01:23:38.660] [info] Received new action goal ×2 + 11.71sINFOros2_control_node[2026-11-04 01:23:38.660] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 28 warnings · 204 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.11sINFOros2_control_node[2026-11-04 01:19:34.172] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-11-04 01:19:34.172] [info] Accepted new action goal ×2 + 0.93sINFOobjective_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 + 0.94sINFOros2_control_node[2026-11-04 01:19:34.997] [info] Got request to cancel active goal. ×2 + 0.94sINFOros2_control_node[2026-11-04 01:19:34.997] [info] Canceling active goal... ×2 + 0.95sERRORobjective_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: 1793755175.01383185 seconds ×3 + 0.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.49sINFOobjective_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: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.49sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.49sINFOobjective_server_nodecaller: ×6 + 1.49sINFOobjective_server_nodetype: 0 ×6 + 1.49sINFOobjective_server_nodename: "" ×6 + 1.49sINFOobjective_server_nodeinstance_id: "" ×6 + 1.50sINFOobjective_server_node ×6 + 1.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793755175.65648603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 1.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.85sINFOros2_control_node[2026-11-04 01:19:35.911] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-11-04 01:19:35.911] [info] Accepted new action goal ×2 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.13sINFOros2_control_node[2026-11-04 01:19:38.191] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-11-04 01:19:38.191] [info] Accepted new action goal ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194911 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194911 ms (missed cycles : 2).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365471 ms (missed cycles : 6). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365471 ms (missed cycles : 6).[0m ×2 + 8.21sWARNros2_control_nodeCamera render tick took 1.42 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882585 ms (missed cycles : 2). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882585 ms (missed cycles : 2).[0m ×2 + 9.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2).[0m ×2 + 11.84sERRORobjective_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: 1793755185.89712954 seconds ×3 + 12.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.38sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793755186.50276518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2).[0m ×2 + 12.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793755186.64293575 seconds ×3 + 13.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.22sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793755187.33929348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.46sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 13.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.47sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Received new action goal ×2 + 13.47sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Accepted new action goal ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2).[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.7s | 3 errors · 23 warnings · 268 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2).[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_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 + 2.37sERRORobjective_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: 1793755185.89712954 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.92sINFOobjective_server_nodecaller: ×8 + 2.92sINFOobjective_server_nodetype: 0 ×8 + 2.92sINFOobjective_server_nodename: "" ×8 + 2.92sINFOobjective_server_nodeinstance_id: "" ×8 + 2.92sINFOobjective_server_node ×8 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793755186.50276518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793755186.64293575 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793755187.33929348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.652944 ms (missed cycles : 8). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.652944 ms (missed cycles : 8).[0m ×2 + 7.99sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.99sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 1 iterations (0.00423262 s). ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669718 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669718 ms (missed cycles : 2).[0m ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.69sINFOros2_control_node[2026-11-04 01:19:52.211] [info] Received new action goal ×2 + 8.69sINFOros2_control_node[2026-11-04 01:19:52.211] [info] Accepted new action goal ×2 + 10.99sINFOros2_control_node[2026-11-04 01:19:54.513] [info] Received new action goal ×2 + 10.99sINFOros2_control_node[2026-11-04 01:19:54.513] [info] Accepted new action goal ×2 + 12.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.64sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Received new action goal ×2 + 12.64sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Accepted new action goal ×2 + 13.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793755197.45997047 seconds ×3 + 14.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793755198.08657551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793755198.17673826 seconds ×3 + 15.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.24sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793755198.83169532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.41sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 15.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.43sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Received new action goal ×2 + 15.43sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 3 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793755197.45997047 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: 1793755198.08657551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793755198.17673826 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793755198.83169532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Accepted new action goal ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.49sINFOros2_control_node[2026-11-04 01:20:02.306] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-11-04 01:20:02.306] [info] Accepted new action goal ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 8.83sINFOros2_control_node[2026-11-04 01:20:04.644] [info] Received new action goal ×2 + 8.83sINFOros2_control_node[2026-11-04 01:20:04.644] [info] Accepted new action goal ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 11.18sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 11.18sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 13.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.09sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 13.09sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 13.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793755208.91509295 seconds ×3 + 13.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.93sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 13.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.94sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 13.94sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 131 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sERRORobjective_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: 1793755396.40036392 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.57sINFOobjective_server_nodename: "" ×4 + 0.57sINFOobjective_server_nodeinstance_id: "" ×4 + 0.57sINFOobjective_server_node ×4 + 0.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793755397.03433275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.94sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.96sINFOros2_control_node[2026-11-04 01:23:17.352] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-11-04 01:23:17.352] [info] Accepted new action goal ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOros2_control_node[2026-11-04 01:23:21.370] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-11-04 01:23:21.370] [info] Accepted new action goal ×2 + 10.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793755406.95502925 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: 1793755407.57462263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.29sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.31sINFOros2_control_node[2026-11-04 01:23:27.698] [info] Received new action goal ×2 + 11.31sINFOros2_control_node[2026-11-04 01:23:27.698] [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 · 3 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 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793755417.89492464 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 + 0.02sINFOros2_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 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.55sINFOobjective_server_nodetype: 0 ×4 + 0.55sINFOobjective_server_nodename: "" ×4 + 0.55sINFOobjective_server_nodeinstance_id: "" ×4 + 0.55sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793755418.50551915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.77sINFOros2_control_node[2026-11-04 01:23:38.660] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-11-04 01:23:38.660] [info] Accepted new action goal ×2 + 5.10sINFOros2_control_node[2026-11-04 01:23:42.992] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-11-04 01:23:42.992] [info] Accepted new action goal ×2 + 7.12sINFOros2_control_node[2026-11-04 01:23:45.013] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-11-04 01:23:45.013] [info] Accepted new action goal ×2 + 7.61sINFOros2_control_node[2026-11-04 01:23:45.504] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-11-04 01:23:45.504] [info] Accepted new action goal ×2 + 9.68sINFOros2_control_node[2026-11-04 01:23:47.575] [info] Received new action goal ×2 + 9.68sINFOros2_control_node[2026-11-04 01:23:47.575] [info] Accepted new action goal ×2 + 10.49sINFOobjective_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 + 10.49sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793755428.38563609 seconds ×3 + 11.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.03sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.19sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793755429.08217740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743975 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743975 ms (missed cycles : 2).[0m ×2 + 12.20sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 12.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.21sINFOros2_control_node[2026-11-04 01:23:50.106] [info] Received new action goal ×2 + 12.21sINFOros2_control_node[2026-11-04 01:23:50.106] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 9.1s | 67 errors · 22 warnings · 447 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [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: 1793755474.90300846 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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755475.50467038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755476.91483641 seconds ×3 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793755477.53097987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.64sINFOobjective_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 + 2.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793755477.53356647 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793755478.13952923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793755478.16024566 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793755478.85452461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146551 ms (missed cycles : 8). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146551 ms (missed cycles : 8).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793755479.68467927 seconds ×3 + 4.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453111 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453111 ms (missed cycles : 3).[0m ×2 + 10.70sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.72sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORweb_video_auth_proxy-25process has died [pid 8503, 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 + 10.72sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.72sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.73sERRORweb_bridge_auth_proxy-24process has died [pid 8501, 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 + 10.73sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.73sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.74sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.75sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.75sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.75sINFOvideo_server-23process has finished cleanly [pid 8500] ×2 + 10.76sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.76sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.76sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.77sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.77sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.78sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.78sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849170 ms (missed cycles : 2). + 10.79sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.80sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.80sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.80sINFOcontroller_managerShutdown request received.... + 10.80sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.80sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.80sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.80sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.80sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.80sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.80sINFOvideo_server2026/11/04 01:24:45 INF shutting down gracefully ×2 + 10.80sINFOvideo_server2026/11/04 01:24:45 INF [WebRTC] closing ×2 + 10.80sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.80sINFOvideo_server2026/11/04 01:24:45 INF [RTSP] closing ×2 + 10.80sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.80sINFOvideo_server2026/11/04 01:24:45 INF waiting for running hooks ×2 + 10.80sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.80sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.80sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.80sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.81sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.81sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOcontroller_managerShutting down the controller manager. + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849170 ms (missed cycles : 2).[0m ×2 + 10.81sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.81sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.81sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.81sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.81sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.81sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.81sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.81sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.81sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.81sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.95sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8499] ×2 + 10.95sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 10.95sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 10.95sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 10.95sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 10.96sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOjoint_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 + 10.96sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.96sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.96sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.96sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.96sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.96sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 10.96sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 10.96sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 10.96sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 10.96sINFOjoint_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 + 10.96sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 10.96sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 10.96sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 10.96sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOtf_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 + 10.96sINFOtf_visualization_relayrclpy.spin(node) ×2 + 10.96sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.96sINFOtf_visualization_relayexecutor.spin_once() ×2 + 10.96sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.96sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 10.96sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.96sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.96sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.96sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 10.96sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 10.96sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 10.96sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 10.96sINFOtf_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 + 11.00sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.00sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.00sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8419] ×2 + 11.01sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8416] ×2 + 11.02sERRORjoint_state_visualization_relay-21process has died [pid 8497, 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_u14dgxw_']. ×2 + 11.02sINFOparameter_manager_node-10process has finished cleanly [pid 8408] ×2 + 11.02sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.02sINFOwaypoint_manager_node-11process has finished cleanly [pid 8411] ×2 + 11.02sERRORtf_visualization_relay-20process has died [pid 8495, 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_pjjk08au']. ×2 + 11.02sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.02sINFOui_teleop_bridge-18process has finished cleanly [pid 8426] ×2 + 11.05sINFOexecute_objective_bridge-17process has finished cleanly [pid 8425] ×2 + 11.07sINFOobjective_server_node[0;m[2026-11-04 01:24:45.963] [moveit_pro_license] [info] ×2 + 11.07sINFOobjective_server_node************************************************* ×4 + 11.07sINFOobjective_server_node* MoveIt Pro License ×2 + 11.07sINFOobjective_server_node* Application has successfully terminated ×2 + 11.11sINFOcomponent_container_mt-16process has finished cleanly [pid 8424] ×2 + 11.12sINFOmove_group-9process has finished cleanly [pid 8403] ×2 + 11.14sINFOcomponent_container_mt-15process has finished cleanly [pid 8423] ×2 + 11.34sINFOobjective_server_node_main-14process has finished cleanly [pid 8422] ×2 + 11.34sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.61sINFOros2_control_node-1process has finished cleanly [pid 8366] ×2 + 12.14sINFOweb_bridge-19process has finished cleanly [pid 8427] ×2 + 12.14sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 6 warnings · 205 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793755262.64490724 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793755263.24121332 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 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059132 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059132 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793755263.31137013 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.21sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793755267.85568261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.29sINFOobjective_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 + 5.30sINFOobjective_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 5.58sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.62sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Received new action goal ×2 + 5.62sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.0s | 3 errors · 15 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [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: 1793755474.90300846 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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755475.50467038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755476.91483641 seconds ×3 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793755477.53097987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.64sINFOobjective_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 + 2.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793755477.53356647 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793755478.13952923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793755478.16024566 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793755478.85452461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146551 ms (missed cycles : 8). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146551 ms (missed cycles : 8).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793755479.68467927 seconds ×3 + 4.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453111 ms (missed cycles : 3). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755160.97227550 seconds ×3 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.76sINFOobjective_server_nodecaller: ×6 + 1.76sINFOobjective_server_nodetype: 0 ×6 + 1.76sINFOobjective_server_nodename: "" ×6 + 1.76sINFOobjective_server_nodeinstance_id: "" ×6 + 1.76sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882585 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882585 ms (missed cycles : 2).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1793755185.89712954 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793755186.50276518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793755186.64293575 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793755187.33929348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.27sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 125 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:19:54.513] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:19:54.513] [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[2026-11-04 01:19:56.163] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793755197.45997047 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: 1793755198.08657551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793755198.17673826 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793755198.83169532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.44sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 3 warnings · 138 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793755262.64490724 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793755263.24121332 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 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059132 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059132 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793755263.31137013 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755160.97227550 seconds ×3 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 17 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [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: 1793755474.90300846 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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755475.50467038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755476.91483641 seconds ×3 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793755477.53097987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.64sINFOobjective_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 + 2.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793755477.53356647 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793755478.13952923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793755478.16024566 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793755478.85452461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146551 ms (missed cycles : 8). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146551 ms (missed cycles : 8).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793755479.68467927 seconds ×3 + 4.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453111 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453111 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.76sINFOobjective_server_nodecaller: ×6 + 1.76sINFOobjective_server_nodetype: 0 ×6 + 1.76sINFOobjective_server_nodename: "" ×6 + 1.76sINFOobjective_server_nodeinstance_id: "" ×6 + 1.76sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 17 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [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: 1793755474.90300846 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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755475.50467038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755476.91483641 seconds ×3 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793755477.53097987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.64sINFOobjective_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 + 2.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793755477.53356647 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793755478.13952923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793755478.16024566 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793755478.85452461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146551 ms (missed cycles : 8). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146551 ms (missed cycles : 8).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793755479.68467927 seconds ×3 + 4.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453111 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453111 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 12 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793755374.35221243 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793755375.09245825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882585 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882585 ms (missed cycles : 2).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1793755185.89712954 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793755186.50276518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793755186.64293575 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793755187.33929348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.27sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882585 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882585 ms (missed cycles : 2).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1793755185.89712954 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793755186.50276518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793755186.64293575 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793755187.33929348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.27sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2).[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_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 + 2.37sERRORobjective_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: 1793755185.89712954 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_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: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793755186.50276518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793755186.64293575 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793755187.33929348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2).[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_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 + 2.37sERRORobjective_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: 1793755185.89712954 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_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: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793755186.50276518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793755186.64293575 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793755187.33929348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2).[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_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 + 2.37sERRORobjective_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: 1793755185.89712954 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_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: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793755186.50276518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793755186.64293575 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793755187.33929348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927397 ms (missed cycles : 2).[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440636 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_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 + 2.37sERRORobjective_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: 1793755185.89712954 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_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: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793755186.50276518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711438 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793755186.64293575 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793755187.33929348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-11-04 01:19:47.533] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727462 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499140 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793755197.45997047 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: 1793755198.08657551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793755198.17673826 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793755198.83169532 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 (3.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793755197.45997047 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: 1793755198.08657551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793755198.17673826 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793755198.83169532 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 (3.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Accepted new action goal ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793755197.45997047 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: 1793755198.08657551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793755198.17673826 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793755198.83169532 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 (3.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Accepted new action goal ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793755197.45997047 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: 1793755198.08657551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793755198.17673826 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793755198.83169532 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 (3.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Accepted new action goal ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-04 01:19:56.163] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793755197.45997047 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: 1793755198.08657551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793755198.17673826 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793755198.83169532 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 (3.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-11-04 01:19:58.956] [info] Accepted new action goal ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-04 01:20:06.993] [info] Accepted new action goal ×2 + 2.00sINFOobjective_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 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Got request to cancel active goal. ×2 + 2.01sINFOros2_control_node[2026-11-04 01:20:08.901] [info] Canceling active goal... ×2 + 2.02sERRORobjective_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: 1793755208.91509295 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793755209.56276417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-11-04 01:20:09.757] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303819 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 100 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00424243 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.37sINFOros2_control_node[2026-11-04 01:20:28.529] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-04 01:20:28.529] [info] Accepted new action goal ×2 + 0.80sINFOros2_control_node[2026-11-04 01:20:28.961] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-11-04 01:20:28.961] [info] Accepted new action goal ×2 + 2.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.73sINFOobjective_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 + 2.74sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.74sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.74sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.74sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.76sERRORobjective_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: 1793755230.92601681 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793755231.73762989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-11-04 01:20:32.771] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-11-04 01:20:32.772] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 3 warnings · 138 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793755262.64490724 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793755263.24121332 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 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059132 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059132 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793755263.31137013 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_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 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_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 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793755267.85568261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_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 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_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 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793755267.85568261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_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 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_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 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793755267.85568261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_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 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_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 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793755267.85568261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_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 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_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 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793755267.85568261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_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 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_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 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793755267.85568261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793755264.10900736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-04 01:21:04.223] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793755266.22917747 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_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 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_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 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793755267.85568261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090586 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-04 01:21:08.263] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 9 warnings · 624 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716334 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716334 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793755321.68769932 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.05sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.05sINFOobjective_server_nodecaller: ×2 + 1.05sINFOobjective_server_nodetype: 0 ×2 + 1.05sINFOobjective_server_nodename: "" ×2 + 1.05sINFOobjective_server_nodeinstance_id: "" ×2 + 1.05sINFOobjective_server_node ×2 + 1.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793755322.30485868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 1.33sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.34sINFOros2_control_node[2026-11-04 01:22:02.519] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-11-04 01:22:02.519] [info] Accepted new action goal ×2 + 2.61sINFOobjective_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 + 2.61sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.68sINFOobjective_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 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922179 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922179 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerReceived new action goal ×90 + 3.39sINFOjoint_trajectory_controllerAccepted new action goal ×90 + 3.39sINFOros2_control_nodeReceived new action goal[0m ×180 + 3.39sINFOros2_control_nodeAccepted new action goal[0m ×180 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798901 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798901 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 · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793755374.35221243 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793755375.09245825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 12 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793755374.35221243 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793755375.09245825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 12 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793755374.35221243 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793755375.09245825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 12 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880096 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788939 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865694 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793755374.35221243 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793755375.09245825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-04 01:22:55.337] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380448 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 78 info |
+ 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-04 01:23:02.251] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-04 01:23:03.926] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793755385.22266126 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793755386.05960321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-11-04 01:23:06.233] [info] Accepted new action goal ×2 + 5.89sINFOobjective_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: 1793755396.40036392 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.57sINFOobjective_server_nodecaller: ×2 + 0.57sINFOobjective_server_nodetype: 0 ×2 + 0.57sINFOobjective_server_nodename: "" ×2 + 0.57sINFOobjective_server_nodeinstance_id: "" ×2 + 0.57sINFOobjective_server_node ×2 + 0.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793755397.03433275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.94sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.96sINFOros2_control_node[2026-11-04 01:23:17.352] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-11-04 01:23:17.352] [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: 1793755406.95502925 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_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: 1793755407.57462263 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 (4.77e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-11-04 01:23:27.698] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-11-04 01:23:27.698] [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 | 3 warnings · 190 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.76sINFOobjective_server_nodecaller: ×6 + 1.76sINFOobjective_server_nodetype: 0 ×6 + 1.76sINFOobjective_server_nodename: "" ×6 + 1.76sINFOobjective_server_nodeinstance_id: "" ×6 + 1.76sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 warnings · 190 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.76sINFOobjective_server_nodecaller: ×6 + 1.76sINFOobjective_server_nodetype: 0 ×6 + 1.76sINFOobjective_server_nodename: "" ×6 + 1.76sINFOobjective_server_nodeinstance_id: "" ×6 + 1.76sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 warnings · 190 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.76sINFOobjective_server_nodecaller: ×6 + 1.76sINFOobjective_server_nodetype: 0 ×6 + 1.76sINFOobjective_server_nodename: "" ×6 + 1.76sINFOobjective_server_nodeinstance_id: "" ×6 + 1.76sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.76sINFOobjective_server_nodecaller: ×6 + 1.76sINFOobjective_server_nodetype: 0 ×6 + 1.76sINFOobjective_server_nodename: "" ×6 + 1.76sINFOobjective_server_nodeinstance_id: "" ×6 + 1.76sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.76sINFOobjective_server_nodecaller: ×6 + 1.76sINFOobjective_server_nodetype: 0 ×6 + 1.76sINFOobjective_server_nodename: "" ×6 + 1.76sINFOobjective_server_nodeinstance_id: "" ×6 + 1.76sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.76sINFOobjective_server_nodecaller: ×6 + 1.76sINFOobjective_server_nodetype: 0 ×6 + 1.76sINFOobjective_server_nodename: "" ×6 + 1.76sINFOobjective_server_nodeinstance_id: "" ×6 + 1.76sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793755462.13789654 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.76sINFOobjective_server_nodecaller: ×6 + 1.76sINFOobjective_server_nodetype: 0 ×6 + 1.76sINFOobjective_server_nodename: "" ×6 + 1.76sINFOobjective_server_nodeinstance_id: "" ×6 + 1.76sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793755463.00196719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243978 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793755463.08240819 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793755463.68116999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793755463.70267558 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793755464.40741014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-11-04 01:24:24.531] [info] Accepted new action goal ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 11 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [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: 1793755474.90300846 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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_nodecaller: ×6 + 0.55sINFOobjective_server_nodetype: 0 ×6 + 0.55sINFOobjective_server_nodename: "" ×6 + 0.55sINFOobjective_server_nodeinstance_id: "" ×6 + 0.55sINFOobjective_server_node ×6 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755475.50467038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755476.91483641 seconds ×3 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793755477.53097987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.64sINFOobjective_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 + 2.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793755477.53356647 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793755478.13952923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793755478.16024566 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 11 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-04 01:24:34.897] [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: 1793755474.90300846 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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_nodecaller: ×6 + 0.55sINFOobjective_server_nodetype: 0 ×6 + 0.55sINFOobjective_server_nodename: "" ×6 + 0.55sINFOobjective_server_nodeinstance_id: "" ×6 + 0.55sINFOobjective_server_node ×6 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755475.50467038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705619 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834932 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755476.91483641 seconds ×3 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793755477.53097987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.64sINFOobjective_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 + 2.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793755477.53356647 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793755478.13952923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793755478.16024566 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 13.2s | 29 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/2026-11-04-01-19-06-272578-8a2c56363674-8318 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.70sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.71sINFOcontroller_managerupdate rate is 600 Hz + 0.71sINFOcontroller_managerOverruns handling is : enabled + 0.71sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.71sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.090791 ms (missed cycles : 8). + 0.95sINFOros2_control_node-1process started with pid [8366] ×2 + 0.95sINFOmove_group-9process started with pid [8403] ×2 + 0.95sINFOparameter_manager_node-10process started with pid [8408] ×2 + 0.95sINFOwaypoint_manager_node-11process started with pid [8411] ×2 + 0.95sINFOmove_joint_resampler_node-12process started with pid [8416] ×2 + 0.96sINFOmove_end_effector_resampler_node-13process started with pid [8419] ×2 + 0.96sINFOobjective_server_node_main-14process started with pid [8422] ×2 + 0.96sINFOcomponent_container_mt-15process started with pid [8423] ×2 + 0.96sINFOcomponent_container_mt-16process started with pid [8424] ×2 + 0.96sINFOexecute_objective_bridge-17process started with pid [8425] ×2 + 0.96sINFOui_teleop_bridge-18process started with pid [8426] ×2 + 0.96sINFOweb_bridge-19process started with pid [8427] ×2 + 0.96sINFOtf_visualization_relay-20process started with pid [8495] ×2 + 0.96sINFOjoint_state_visualization_relay-21process started with pid [8497] ×2 + 0.96sINFOtf2_web_republisher_node-22process started with pid [8499] ×2 + 0.96sINFOvideo_server-23process started with pid [8500] ×2 + 0.96sINFOweb_bridge_auth_proxy-24process started with pid [8501] ×2 + 0.96sINFOweb_video_auth_proxy-25process started with pid [8503] ×2 + 0.96sINFOros2-2process started with pid [8367] ×2 + 0.96sINFOros2-3process started with pid [8368] ×2 + 0.96sINFOros2-4process started with pid [8369] ×2 + 0.96sINFOros2-5process started with pid [8370] ×2 + 0.96sINFOros2-6process started with pid [8371] ×2 + 0.96sINFOros2-7process started with pid [8372] ×2 + 0.96sINFOros2-8process started with pid [8373] ×2 + 0.98sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.98sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.98sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.98sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.98sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.98sWARNros2_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 + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.090791 ms (missed cycles : 8).[0m ×2 + 1.01sINFOcontroller_managerReceived robot description from topic. + 1.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.01sINFOros2_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 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.03sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.29sINFOvideo_server2026/11/04 01:19:07 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.29sINFOvideo_server2026/11/04 01:19:07 INF configuration loaded from /tmp/moveit-webrtc-t9tnerkb/mediamtx.yml ×2 + 1.29sINFOvideo_server2026/11/04 01:19:07 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.29sINFOvideo_server2026/11/04 01:19:07 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.67sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOweb_video_auth_proxy2026-11-04 01:19:08,461 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.84sINFOweb_video_auth_proxy2026-11-04 01:19:08,463 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.84sINFOweb_bridge_auth_proxy2026-11-04 01:19:08,467 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.98sINFOmove_group[2026-11-04 01:19:08.603] [moveit_pro_license] [info] ×2 + 1.98sINFOmove_group************************************************* ×4 + 1.98sINFOmove_group* MoveIt Pro License ×2 + 1.98sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446421 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446421 ms (missed cycles : 3).[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.31sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.31sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.31sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.31sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.32sINFOros2_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 + 2.32sINFOros2_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 + 2.37sINFOmove_group ×4 + 2.37sINFOmove_group[92mYou can start planning now![0m ×2 + 2.44sINFOwaypoint_manager_node[2026-11-04 01:19:09.059] [moveit_pro_license] [info] ×2 + 2.44sINFOwaypoint_manager_node************************************************* ×4 + 2.44sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.44sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.55sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.12sINFOobjective_server_node[2026-11-04 01:19:10.747] [moveit_pro_license] [info] ×2 + 4.12sINFOobjective_server_node************************************************* ×4 + 4.12sINFOobjective_server_node* MoveIt Pro License ×2 + 4.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.27sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.27sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.27sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.27sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.27sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.27sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.27sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.27sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.35sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.35sINFOros2_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 + 4.35sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.35sWARNros2_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 + 4.35sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.35sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.35sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.35sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.35sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.35sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.35sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.35sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.35sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.35sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.35sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.35sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.35sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.35sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.35sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.35sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.35sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.35sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.35sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.35sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.35sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.35sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.35sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.35sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.35sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.35sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.35sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.40sINFOcomponent_container_mt[2026-11-04 01:19:11.026] [moveit_pro_license] [info] ×2 + 4.40sINFOcomponent_container_mt************************************************* ×4 + 4.40sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.40sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802933 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802933 ms (missed cycles : 2).[0m ×2 + 4.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj + 4.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj [0m ×2 + 4.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.46sINFOforce_torque_sensor_broadcasterconfigure successful + 4.46sINFOros2_control_nodeconfigure successful[0m ×2 + 4.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.54sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.54sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.74sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.74sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.74sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.77sINFOros2-2process has finished cleanly [pid 8367] ×2 + 4.87sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj + 4.87sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj [0m ×2 + 4.92sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.92sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.97sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.97sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.97sINFOros2_control_node[2026-11-04 01:19:11.597] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.97sINFOros2_control_node[2026-11-04 01:19:11.597] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.97sINFOros2_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 + 4.97sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.97sWARNros2_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 + 4.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.00sINFOros2_control_node[2026-11-04 01:19:11.623] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.00sINFOros2_control_node[2026-11-04 01:19:11.623] [info] Controller state will be published at 50 Hz. ×2 + 5.01sINFOros2_control_node[2026-11-04 01:19:11.634] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.31sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.31sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj + 5.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj [0m ×2 + 5.34sINFOros2-6process has finished cleanly [pid 8371] ×2 + 5.38sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.38sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.38sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.38sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.38sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.38sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.38sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.38sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.39sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.39sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.39sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.39sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.39sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115554 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115554 ms (missed cycles : 4).[0m ×2 + 5.70sINFOros2-5process has finished cleanly [pid 8370] ×2 + 5.70sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.70sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.70sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.70sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.82sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj + 5.82sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj [0m ×2 + 5.86sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.86sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.86sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.86sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.89sINFOros2_control_node[2026-11-04 01:19:12.515] [info] Controller state will be published at 10 Hz. ×2 + 5.89sINFOros2_control_node[2026-11-04 01:19:12.516] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.13sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.13sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.14sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj + 6.14sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj [0m ×2 + 6.17sINFOros2-7process has finished cleanly [pid 8372] ×2 + 6.18sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.19sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.19sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.51sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.51sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.51sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.51sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.51sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj + 6.52sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj [0m ×2 + 6.53sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.54sINFOros2-4process has finished cleanly [pid 8369] ×2 + 6.55sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.55sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.55sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.55sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.55sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.55sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204243 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204243 ms (missed cycles : 4).[0m ×2 + 6.57sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.57sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.84sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.84sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.84sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.84sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.87sINFOros2-3process has finished cleanly [pid 8368] ×2 + 6.92sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj + 6.92sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bbz2156y --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_07venkay --params-file /tmp/launch_params_oo91slkj [0m ×2 + 6.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.95sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.98sINFOros2_control_node[2026-11-04 01:19:13.607] [info] Controller state will be published at 20 Hz. ×2 + 6.98sINFOros2_control_node[2026-11-04 01:19:13.608] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.23sINFOros2-8process has finished cleanly [pid 8373] ×2 + 12.02sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 12.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 12.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 12.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 12.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 12.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 12.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 12.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 12.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 12.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 12.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 12.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 12.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 12.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 12.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 12.77sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 12.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 12.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 12.77sINFOobjective_server_nodecaller: ×10 + 12.77sINFOobjective_server_nodetype: 0 ×10 + 12.77sINFOobjective_server_nodename: "" ×10 + 12.77sINFOobjective_server_nodeinstance_id: "" ×10 + 12.77sINFOobjective_server_node ×10 + 12.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 13.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.38sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 13.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 13.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 14.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755160.97227550 seconds ×3 + 14.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 14.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 15.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 15.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 seconds ×3 + 16.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 16.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755160.97227550 seconds ×3 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 + 7.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 159 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/2026-11-04-01-19-06-272578-8a2c56363674-8318 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.70sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.71sINFOcontroller_managerupdate rate is 600 Hz + 0.71sINFOcontroller_managerOverruns handling is : enabled + 0.71sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.71sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.090791 ms (missed cycles : 8). + 0.95sINFOros2_control_node-1process started with pid [8366] ×2 + 0.95sINFOmove_group-9process started with pid [8403] ×2 + 0.95sINFOparameter_manager_node-10process started with pid [8408] ×2 + 0.95sINFOwaypoint_manager_node-11process started with pid [8411] ×2 + 0.95sINFOmove_joint_resampler_node-12process started with pid [8416] ×2 + 0.96sINFOmove_end_effector_resampler_node-13process started with pid [8419] ×2 + 0.96sINFOobjective_server_node_main-14process started with pid [8422] ×2 + 0.96sINFOcomponent_container_mt-15process started with pid [8423] ×2 + 0.96sINFOcomponent_container_mt-16process started with pid [8424] ×2 + 0.96sINFOexecute_objective_bridge-17process started with pid [8425] ×2 + 0.96sINFOui_teleop_bridge-18process started with pid [8426] ×2 + 0.96sINFOweb_bridge-19process started with pid [8427] ×2 + 0.96sINFOtf_visualization_relay-20process started with pid [8495] ×2 + 0.96sINFOjoint_state_visualization_relay-21process started with pid [8497] ×2 + 0.96sINFOtf2_web_republisher_node-22process started with pid [8499] ×2 + 0.96sINFOvideo_server-23process started with pid [8500] ×2 + 0.96sINFOweb_bridge_auth_proxy-24process started with pid [8501] ×2 + 0.96sINFOweb_video_auth_proxy-25process started with pid [8503] ×2 + 0.96sINFOros2-2process started with pid [8367] ×2 + 0.96sINFOros2-3process started with pid [8368] ×2 + 0.96sINFOros2-4process started with pid [8369] ×2 + 0.96sINFOros2-5process started with pid [8370] ×2 + 0.96sINFOros2-6process started with pid [8371] ×2 + 0.96sINFOros2-7process started with pid [8372] ×2 + 0.96sINFOros2-8process started with pid [8373] ×2 + 0.98sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.98sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.98sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.98sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.98sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.98sWARNros2_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 + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.090791 ms (missed cycles : 8).[0m ×2 + 1.01sINFOcontroller_managerReceived robot description from topic. + 1.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.01sINFOros2_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 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.03sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.29sINFOvideo_server2026/11/04 01:19:07 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.29sINFOvideo_server2026/11/04 01:19:07 INF configuration loaded from /tmp/moveit-webrtc-t9tnerkb/mediamtx.yml ×2 + 1.29sINFOvideo_server2026/11/04 01:19:07 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.29sINFOvideo_server2026/11/04 01:19:07 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.67sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOweb_video_auth_proxy2026-11-04 01:19:08,461 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.84sINFOweb_video_auth_proxy2026-11-04 01:19:08,463 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.84sINFOweb_bridge_auth_proxy2026-11-04 01:19:08,467 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.98sINFOmove_group[2026-11-04 01:19:08.603] [moveit_pro_license] [info] ×2 + 1.98sINFOmove_group************************************************* ×4 + 1.98sINFOmove_group* MoveIt Pro License ×2 + 1.98sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446421 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446421 ms (missed cycles : 3).[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.31sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.31sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.31sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.31sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.32sINFOros2_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 + 2.32sINFOros2_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 + 2.37sINFOmove_group ×4 + 2.37sINFOmove_group[92mYou can start planning now![0m ×2 + 2.44sINFOwaypoint_manager_node[2026-11-04 01:19:09.059] [moveit_pro_license] [info] ×2 + 2.44sINFOwaypoint_manager_node************************************************* ×4 + 2.44sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.44sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.55sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755160.97227550 seconds ×3 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755160.97227550 seconds ×3 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755160.97227550 seconds ×3 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755160.06206751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755160.97227550 seconds ×3 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755159.45743775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755159.46766424 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 + 7.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.14sINFOros2_control_node[2026-11-04 01:19:27.202] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-11-04 01:19:27.202] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [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: 1793755160.06206751 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: 1793755160.97227550 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755161.59244585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755161.65262294 seconds ×3 + 2.20sINFOobjective_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: 1793755162.31412959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755162.33427191 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: 1793755162.92901254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755163.07961798 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 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755163.76704288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035885 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755163.81722856 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793755164.54709268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.1304e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-04 01:19:24.686] [info] Accepted new action goal ×2 | ||||